Surgical instruments with non-symmetrical articulation arrangements

ABSTRACT

A surgical instrument that comprises an elongate shaft assembly that defines a shaft axis. A surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel relative thereto about an articulation axis that is laterally offset from the shaft axis and extends transversely relative thereto. An end effector driver link is operably coupled to the surgical end effector and an articulation driver that is supported for longitudinal travel in distal and proximal directions upon application of articulation motions thereto. A flexible de-articulation member is coupled to the elongate shaft assembly and the surgical end effector to apply de-articulation motions to the surgical end effector.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 15/019,215, entitledSURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS,filed Feb. 9, 2016, now U.S. Patent Application Publication No.2017/0224332, the entire disclosure of which is hereby incorporated byreference herein.

BACKGROUND

The present invention relates to surgical instruments and, in variousembodiments, to surgical stapling and cutting instruments and staplecartridges for use therewith.

A stapling instrument can include a pair of cooperating elongate jawmembers, wherein each jaw member can be adapted to be inserted into apatient and positioned relative to tissue that is to be stapled and/orincised. In various embodiments, one of the jaw members can support astaple cartridge with at least two laterally spaced rows of staplescontained therein, and the other jaw member can support an anvil withstaple-forming pockets aligned with the rows of staples in the staplecartridge. Generally, the stapling instrument can further include apusher bar and a knife blade which are slidable relative to the jawmembers to sequentially eject the staples from the staple cartridge viacamming surfaces on the pusher bar and/or camming surfaces on a wedgesled that is pushed by the pusher bar. In at least one embodiment, thecamming surfaces can be configured to activate a plurality of stapledrivers carried by the cartridge and associated with the staples inorder to push the staples against the anvil and form laterally spacedrows of deformed staples in the tissue gripped between the jaw members.In at least one embodiment, the knife blade can trail the cammingsurfaces and cut the tissue along a line between the staple rows.

The foregoing discussion is intended only to illustrate various aspectsof the related art in the field of the invention at the time, and shouldnot be taken as a disavowal of claim scope.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of a surgical instrument and an elongateshaft assembly embodiment;

FIG. 2 is an exploded assembly view of the handle or housing portion ofthe surgical instrument of FIG. 1 ;

FIG. 3 is an exploded assembly view of a portion of an elongate shaftassembly;

FIG. 4 is another exploded assembly view of another portion of theelongate shaft assembly of FIG. 3 ;

FIG. 5 is an exploded assembly view of a portion of a surgical endeffector embodiment and closure sleeve embodiment;

FIG. 6 is a partial cross-sectional view of a portion of the surgicalend effector and closure sleeve arrangement of FIG. 5 ;

FIG. 7 is a perspective view of the surgical end effector and closuresleeve arrangement of FIGS. 5 and 6 with the anvil thereof in an openposition or configuration;

FIG. 8 is another perspective view of the surgical end effector andclosure sleeve arrangement of FIGS. 5-7 with the anvil thereof in aclosed position or configuration;

FIG. 9 is a perspective view of a surgical end effector and elongateshaft assembly embodiment with portions thereof omitted for clarity;

FIG. 10 is a top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIG. 9 with the surgical endeffector in an articulated position or configuration;

FIG. 11 is a partial exploded assembly view of portions of the surgicalend effector and elongate shaft assembly embodiment of FIGS. 9 and 10 ;

FIG. 12 is a top view of portions of the surgical end effector andelongate shaft assembly of FIGS. 9-11 ;

FIG. 13 is a perspective view of portions of the surgical end effectorand elongate shaft assembly embodiment of FIGS. 9-12 with the surgicalend effector in an articulated position or configuration;

FIG. 14 is a top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIGS. 9-13 with the surgical endeffector in an articulated configuration and with some of the componentsthereof shown in cross-section for clarity;

FIG. 15 is a perspective view of a portion of another elongate shaftassembly embodiment;

FIG. 16 is another perspective view of the elongate shaft assemblyembodiment of FIG. 15 with the closure sleeve and closure sleevecomponents omitted for clarity;

FIG. 17 is a top view of portions of the elongate shaft assemblyembodiment of FIGS. 15 and 16 ;

FIG. 18 is a cross-sectional side elevational view of the elongate shaftassembly embodiment of FIGS. 15-17 with a surgical staple cartridgemounted in the surgical end effector portion;

FIG. 19 is another cross-sectional side elevational view of the elongateshaft assembly of FIGS. 15-18 with a surgical staple cartridge mountedin the surgical end effector portion;

FIG. 20 is a top view of portions of the surgical end effector andelongate shaft assembly of FIGS. 15-19 with the surgical end effector inan articulated position or configuration;

FIG. 20A is a side elevational view of a portion of another surgical endeffector and closure sleeve embodiment;

FIG. 21 is a perspective view of another surgical end effector andelongate shaft assembly embodiment with portions thereof omitted forclarity;

FIG. 22 is an exploded assembly view of portions of the surgical endeffector and elongate shaft assembly embodiment of FIG. 21 ;

FIG. 23 is a top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIGS. 21 and 22 ;

FIG. 24 is another top view of the portions of the surgical end effectorand elongate shaft assembly embodiment of FIGS. 21-23 with portionsthereof omitted for clarity;

FIG. 25 is another top view of the portions of the surgical end effectorand elongate shaft assembly embodiment of FIGS. 21-24 with the surgicalend effector in an articulated position or configuration;

FIG. 26 is an exploded perspective view of a portion of another elongateshaft assembly embodiment;

FIG. 27 is an exploded assembly view of portions of another surgical endeffector and elongate shaft assembly embodiment;

FIG. 28 is a partial perspective view of a portion of the elongate shaftassembly embodiment of FIG. 27 with portions thereof omitted forclarity;

FIG. 29 is another partial perspective view of portions of the elongateshaft assembly embodiment of FIGS. 27 and 28 with portions thereofomitted for clarity;

FIG. 30 is another partial perspective view of portions of the elongateshaft assembly embodiment of FIGS. 27-29 with portions thereof omittedfor clarity;

FIG. 31 is a top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIGS. 27-30 with portions thereofomitted for clarity;

FIG. 32 is another top view of portions of the surgical end effector andelongate shaft assembly embodiment of FIGS. 27-31 with portions thereofomitted for clarity and with the surgical end effector in an articulatedposition or configuration;

FIG. 33 is a side elevational view of portions of the surgical endeffector and elongate shaft assembly embodiment of FIGS. 27-32 withportions thereof omitted for clarity;

FIG. 34 is a perspective view of portions of the surgical end effectorand elongate shaft assembly embodiment of FIGS. 27-33 with portionsthereof omitted for clarity;

FIG. 35 is another partial perspective view of portions of the surgicalend effector and elongate shaft assembly embodiment of FIGS. 27-34 withportions thereof omitted for clarity;

FIG. 36 is an exploded assembly view of portions of a distal firing beamassembly embodiment and lateral load carrying member embodiments;

FIG. 37 is a perspective view of the distal firing beam assembly andlateral load carrying members of FIG. 36 ;

FIG. 38 is an enlarged cross-sectional view of portions of the distalfiring beam assembly and lateral load carrying members of FIGS. 36 and37 ;

FIG. 39 is another cross-sectional view of the distal firing beamassembly and lateral load carrying members of FIGS. 36-38 ;

FIG. 40 is a side elevational view of a portion of a distal firing beamassembly embodiment attached to a firing member embodiment;

FIG. 41 is a top view of a portion of the distal firing beam assemblyembodiment and firing member embodiment of FIG. 40 ;

FIG. 42 is a cross-sectional view of a portion of the distal firing beamassembly embodiment of FIGS. 40 and 41 with lateral load carryingmembers journaled thereon and with the distal firing beam assemblyembodiment in a flexed position or configuration;

FIG. 43 is a perspective view of the distal firing beam assemblyembodiment and lateral load carrying embodiments of FIG. 42 ;

FIG. 44 is a perspective view of portions of another surgical endeffector embodiment and elongate shaft assembly embodiment with portionsthereof omitted for clarity and with the surgical end effector in anarticulated position or configuration;

FIG. 45 is a top view of the surgical end effector embodiment andelongate shaft assembly embodiment of FIG. 44 ;

FIG. 46 is another top view of the surgical end effector embodiment andelongate shaft assembly embodiment of FIG. 45 with portions of the pivotlink thereof shown in cross-section;

FIG. 47 is a partial perspective view of portions of another surgicalend effector embodiment and elongate shaft assembly embodiment withportions thereof omitted for clarity;

FIG. 48 is a top view of portions of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIG. 47 withportions thereof omitted for clarity;

FIG. 49 is another top view of the surgical end effector embodiment andelongate shaft assembly embodiment of FIG. 48 ;

FIG. 50 is a top perspective view of portions of the surgical endeffector embodiment and elongate shaft assembly embodiment of FIGS.47-49 with portions thereof omitted for clarity and the surgical endeffector in an articulated position or configuration;

FIG. 51 is another top perspective view of portions of the surgical endeffector embodiment and elongate shaft assembly embodiment of FIG. 50 ;

FIG. 52 is an enlarged perspective view of portions of the surgical endeffector embodiment and elongate shaft assembly embodiment of FIG. 51 ;

FIG. 53 is a top view of portions of another surgical end effectorembodiment and elongate shaft assembly embodiment with portions thereofomitted for clarity and illustrating the surgical end effector in anunarticulated position or configuration and an articulated position orconfiguration;

FIG. 54 is a top view of a portion of the elongate shaft assemblyembodiment of FIG. 53 with the articulation system in a neutral orunarticulated position or configuration and with portions of theelongate shaft assembly omitted for clarity;

FIG. 55 is another top view of a portion of the elongate shaft assemblyembodiment of FIG. 54 with the articulation system in a firstarticulated position or configuration;

FIG. 56 is another top view of a portion of the elongate shaft assemblyembodiment of FIGS. 54 and 55 with the articulation system in a secondarticulated position or configuration;

FIG. 57 is a partial perspective view of other portions of the elongatedshaft assembly embodiment of FIGS. 53-56 and portions of the surgicalend effector embodiment in an unarticulated position or configurationand with portions thereof omitted for clarity;

FIG. 58 is another partial perspective view of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIG. 57 withportions thereof omitted for clarity;

FIG. 59 is a top view of a portion of another elongate shaft assemblyembodiment with portions thereof omitted for clarity;

FIG. 60 is a top view of portions of another articulation systemembodiment in a neutral or unarticulated position;

FIG. 61 is a top view of a driver articulation disc embodiment of thearticulation system of FIG. 60 ;

FIG. 62 is a top view of a driven articulation disc embodiment of thearticulation system FIG. 60 ;

FIG. 63 is another top view of the articulation system embodiment ofFIG. 60 in a position or configuration after an articulation controlmotion has been initially applied thereto;

FIG. 64 is another top view of the articulation system embodiment ofFIG. 63 in a first articulated position or configuration;

FIG. 65 is another top view of the articulation system embodiment ofFIGS. 63 and 64 in a second articulated position or configuration;

FIG. 66 is a perspective view of another surgical end effector andclosure sleeve embodiment with the jaws thereof in a closed position orconfiguration;

FIG. 67 is another perspective view of the surgical end effector andclosure sleeve embodiment of FIG. 66 with the jaws thereof in an openposition or configuration;

FIG. 68 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 66 and 67 with the closure sleeveshown in cross-section and the jaws thereof in an open position orconfiguration;

FIG. 69 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 66-68 shown in cross-section and withthe jaws thereof in an open position or configuration;

FIG. 70 is an exploded assembly view of the surgical end effector andclosure sleeve embodiment of FIGS. 66-69 ;

FIG. 71 is an exploded assembly view of another surgical end effectorand closure sleeve embodiment;

FIG. 72 is a perspective view of another surgical end effector andclosure sleeve embodiment with the jaws thereof in an open position orconfiguration;

FIG. 73 is another perspective view of the surgical end effector andclosure sleeve embodiment of FIG. 72 with the jaws thereof in a closedposition or configuration;

FIG. 74 is an exploded perspective assembly view of the surgical endeffector and closure sleeve embodiment of FIGS. 72 and 73 ;

FIG. 75 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 72-74 with the jaws thereof in aclosed position or configuration;

FIG. 76 is a rear perspective view of the surgical end effectorembodiment of FIGS. 72-75 with the closure sleeve embodiment thereofshown in phantom lines for clarity;

FIG. 77 is a side cross-sectional view of the surgical end effector andclosure sleeve embodiment of FIGS. 72-76 with the jaws thereof in aclosed position or configuration;

FIG. 78 is another side cross-sectional view including one of the camplates of the surgical end effector and closure sleeve embodiment ofFIGS. 72-77 with the jaws thereof in a closed position or configuration;

FIG. 79 is another side cross-sectional view including one of the camplates of the surgical end effector and closure sleeve embodiment ofFIGS. 72-78 with the jaws thereof in an open position or configuration;

FIG. 80 is a partial perspective view of another surgical end effectorand closure sleeve embodiment with the jaws thereof in an open positionor configuration;

FIG. 81 is a partial perspective view of the surgical end effector andclosure sleeve embodiment of FIG. 80 with the jaws thereof in a closedposition or configuration;

FIG. 82 is an exploded perspective assembly view of the surgical endeffector and closure sleeve embodiment of FIGS. 80 and 81 ;

FIG. 83 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 80-82 with the jaws thereof in aclosed position or configuration;

FIG. 84 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 80-83 with a portion of the closuresleeve shown in cross-section and with the jaws thereof in an openposition or configuration;

FIG. 85 is an exploded perspective assembly view of another surgical endeffector and closure sleeve embodiment;

FIG. 86 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIG. 85 with the jaws thereof in a closedposition or configuration;

FIG. 87 is a side elevational view of the surgical end effector andclosure sleeve embodiment of FIGS. 85 and 86 with the jaws thereof in anopen position or configuration with a portion of the closure sleeveshown in cross-section;

FIG. 88 is a perspective view of a portion of another elongate shaftassembly embodiment;

FIG. 89 is another perspective view of the elongate shaft assemblyembodiment of FIG. 88 with some components thereof omitted for clarity;

FIG. 90 is another perspective view of the elongate shaft assembly ofFIGS. 88 and 89 with the surgical end effector in an articulatedposition or configuration;

FIG. 91 is an exploded assembly view of the elongate shaft assembly ofFIGS. 88-90 ;

FIG. 92 is a top view of the elongate shaft assembly of FIGS. 88-91 withsome components omitted for clarity and the surgical end effectorthereof articulated in one direction;

FIG. 93 is another top view of the elongate shaft assembly of FIGS.88-92 with some components thereof omitted for clarity and with thesurgical end effector articulated in another direction;

FIG. 94 is a perspective view of a surgical staple cartridge embodiment;

FIG. 95 is a perspective view of another surgical staple cartridgeembodiment;

FIG. 96 is a perspective view of a portion of another elongate shaftassembly coupled to a surgical end effector;

FIG. 97 is another perspective view of the elongate shaft assembly andsurgical end effector of FIG. 96 in an unarticulated orientation andwith portions thereof omitted for clarity;

FIG. 98 is a top view of the portions of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIGS. 96 and 97with the surgical end effector in an articulated orientation;

FIG. 99 is another top view of the portions of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIGS. 96-98 withportions thereof omitted for clarity;

FIG. 100 is another top view of portions of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIG. 99 in anarticulated orientation;

FIG. 101 is another top view of portions of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIG. 100 in anunarticulated orientation;

FIG. 102 is another top view of portions of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIG. 101 with thesurgical end effector articulated in a first articulation direction;

FIG. 103 is another top view of portions of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIG. 102 with thesurgical end effector articulated in a second articulation direction;

FIG. 104 is a top view of portions of another surgical end effectorembodiment and another elongate shaft assembly embodiment in anunarticulated orientation;

FIG. 105 is another top view of the surgical end effector embodiment andelongate shaft assembly embodiment of FIG. 104 with the surgical endeffector in an articulated orientation;

FIG. 106 is a top view of a portion of another surgical end effectorembodiment and elongate shaft assembly embodiment in an unarticulatedorientation with portions thereof omitted for clarity;

FIG. 107 is another top view of the surgical end effector and elongateshaft assembly of FIG. 106 in a first articulated orientation;

FIG. 108 is another top view of the surgical end effector and elongateshaft assembly of FIG. 107 in a second articulated orientation;

FIG. 109 is a top view of a portion of another surgical end effectorembodiment and elongate shaft assembly embodiment in an unarticulatedorientation with portions thereof omitted for clarity;

FIG. 110 is another top view of the surgical end effector and elongateshaft assembly of FIG. 109 in a first articulated orientation;

FIG. 111 is another top view of the surgical end effector and elongateshaft assembly of FIG. 110 in a second articulated orientation;

FIG. 112 is a top view of a portion of another surgical end effectorembodiment and elongate shaft assembly embodiment in an unarticulatedorientation with portions thereof omitted for clarity;

FIG. 113 is another top view of the surgical end effector and elongateshaft assembly of FIG. 112 in a first articulated orientation;

FIG. 114 is another top view of the surgical end effector and elongateshaft assembly of FIG. 113 in a second articulated orientation;

FIG. 115 is a top view of a portion of another surgical end effectorembodiment and elongate shaft assembly embodiment in an unarticulatedorientation with portions thereof omitted for clarity;

FIG. 116 is another top view of the surgical end effector and elongateshaft assembly of FIG. 115 in a first articulated orientation;

FIG. 117 is another top view of the surgical end effector and elongateshaft assembly of FIG. 116 in a second articulated orientation;

FIG. 118 is a top view of a portion of another surgical end effectorembodiment and elongate shaft assembly embodiment in an unarticulatedorientation with portions thereof omitted for clarity;

FIG. 119 is another top view of the surgical end effector and elongateshaft assembly of FIG. 118 in a first articulated orientation;

FIG. 120 is a partial perspective view of a portion of another surgicalend effector embodiment and elongate shaft assembly embodiment in anunarticulated orientation with portions thereof omitted for clarity;

FIG. 121 is a top view of the surgical end effector and elongate shaftassembly of FIG. 120 in an unarticulated orientation;

FIG. 122 is another top view of the surgical end effector and elongateshaft assembly of FIG. 121 in a first articulated orientation;

FIG. 123 is a partial perspective view of a portion of another surgicalend effector embodiment and elongate shaft assembly embodiment in anunarticulated orientation with portions thereof omitted for clarity;

FIG. 124 is another perspective view of the surgical end effectorembodiment and elongate shaft assembly embodiment of FIG. 123 in anunarticulated orientation;

FIG. 125 is an exploded assembly perspective view of the surgical endeffector embodiment and elongate shaft assembly embodiment of FIGS. 123and 124 ;

FIG. 126 is a top view of the surgical end effector embodiment andelongate shaft assembly embodiment of FIGS. 123-125 in an unarticulatedorientation;

FIG. 127 is another top view of the surgical end effector and elongateshaft assembly of FIGS. 123-126 in a first articulated orientation;

FIG. 128 is another top view of the surgical end effector and elongateshaft assembly of FIGS. 123-128 in a second articulated orientation;

FIG. 129 is a partial perspective view of a portion of another surgicalend effector embodiment and elongate shaft assembly embodiment in anunarticulated orientation with portions thereof omitted for clarity;

FIG. 130 is a top view of the surgical end effector and elongate shaftassembly of FIG. 129 in a an unarticulated orientation;

FIG. 131 is another top view of the surgical end effector and elongateshaft assembly of FIGS. 129 and 130 in a first articulated orientation;

FIG. 132 is a partial perspective view of portions of a spine of anelongate shaft assembly and firing beam coupler embodiment;

FIG. 132A is a partial cross-sectional view of portions of a spine of anelongate shaft assembly another firing beam coupler and lockarrangement;

FIG. 133 is a top view of the spine and firing beam coupler embodimentof FIG. 132 with a firing beam embodiment installed therein;

FIG. 134 is a top view of a proximal end of a firing beam embodiment;

FIG. 135 is a top view of a proximal end of another firing beamembodiment;

FIG. 136 is a top view of another surgical end effector embodiment andelongate shaft assembly embodiment in an unarticulated orientation andwith various components omitted for clarity;

FIG. 137 is another top view of the surgical end effector and elongateshaft assembly of FIG. 136 in a first articulated orientation;

FIG. 138 is a partial perspective view of another surgical end effectorand elongate shaft assembly embodiment in an unarticulated orientationand with components thereof omitted for clarity;

FIG. 139 is an exploded perspective assembly view of the surgical endeffector and elongate shaft assembly of FIG. 138 ;

FIG. 140 is another exploded perspective view of portions of thesurgical end effector and elongate shaft assembly of FIG. 139 ;

FIG. 141 is another perspective view of the surgical end effector andelongate shaft assembly of FIGS. 138-140 in a first articulatedorientation;

FIG. 142 is another perspective view of the surgical end effector andelongate shaft assembly of FIGS. 138-141 in a second articulatedorientation;

FIG. 143 is a top view of a portion of another elongate shaft assembly;

FIG. 144 is a partial exploded assembly view of the elongate shaftassembly of FIG. 143 and a portion of a surgical end effector;

FIG. 145 is a perspective view of another surgical end effectorembodiment and elongate shaft assembly embodiment in an unarticulatedorientation;

FIG. 146 is a top view of the cable member and pulley arrangement of thesurgical end effector and elongate shaft assembly of FIG. 145 ;

FIG. 147 is an exploded assembly view of portions of the surgical endeffector and elongate shaft assembly of FIG. 145 ;

FIG. 148 is a side elevational view of a portion of another elongateshaft assembly;

FIG. 149 is an exploded assembly view of the elongate shaft assembly ofFIG. 148 ;

FIG. 150 is a top view of portions of another elongate shaft assemblywith components thereof omitted for clarity;

FIG. 151 is a partial cross-sectional view of a portion of a cablemember of an elongate shaft assembly and a tensioning screw arrangementfor introducing tension into the cable member;

FIG. 152 is a cross-sectional perspective view of a closure sleeveembodiment;

FIG. 153 is a cross-sectional view of another closure sleeve embodiment;

FIG. 154 is a cross-sectional view of portions of another closure sleeveembodiment;

FIG. 155 is a cross-sectional view of portions of another closure sleeveembodiment;

FIG. 156 is a cross-sectional view of portions of another closure sleeveembodiment;

FIG. 157 is a cross-sectional perspective view of portions of anotherelongate shaft assembly; and

FIG. 158 is another cross-sectional view of portions of the elongateshaft assembly of FIG. 157 .

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patentapplications that were filed on Feb. 9, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/019,230, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM        ARRANGEMENTS, now U.S. Pat. No. 10,588,625;    -   U.S. patent application Ser. No. 15/019,227, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK        ARRANGEMENTS, now U.S. Patent Application Publication No.        2017/0224334;    -   U.S. patent application Ser. No. 15/019,206, entitled SURGICAL        INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE        RELATIVE TO AN ELONGATE SHAFT ASSEMBLY, now U.S. Pat. No.        10,653,413;    -   U.S. patent application Ser. No. 15/019,196, entitled SURGICAL        INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY        CONSTRAINT, now U.S. Pat. No. 10,413,291;    -   U.S. patent application Ser. No. 15/019,228, entitled SURGICAL        INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS, now        U.S. Pat. No. 10,433,837;    -   U.S. patent application Ser. No. 15/019,220, entitled SURGICAL        INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END        EFFECTOR, now U.S. Pat. No. 10,245,029;    -   U.S. patent application Ser. No. 15/019,235, entitled SURGICAL        INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN        ARTICULATION SYSTEMS, now U.S. Pat. No. 10,245,030; and    -   U.S. patent application Ser. No. 15/019,245, entitled SURGICAL        INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S.        Pat. No. 10,470,764.

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/742,925, entitled SURGICAL        END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S.        Pat. No. 10,182,818;    -   U.S. patent application Ser. No. 14/742,941, entitled SURGICAL        END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now        U.S. Pat. No. 10,052,102;    -   U.S. patent application Ser. No. 14/742,933, entitled SURGICAL        STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING        FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING,        now U.S. Pat. No. 10,154,841;    -   U.S. patent application Ser. No. 14/742,914, entitled MOVABLE        FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,405,863;    -   U.S. patent application Ser. No. 14/742,900, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM        STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION        SUPPORT, now U.S. Pat. No. 10,335,149; and    -   U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULL        ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,178,992.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/640,746, entitled POWERED        SURGICAL INSTRUMENT, now U.S. Pat. No. 9,808,246;    -   U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE        LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,441,279;    -   U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE        TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR        MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication        No. 2016/0256154;    -   U.S. patent application Ser. No. 14/640,935, entitled OVERLAID        MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE        TISSUE COMPRESSION, now U.S. Pat. No. 10,548,504;    -   U.S. patent application Ser. No. 14/640,831, entitled MONITORING        SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED        SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,895,148;    -   U.S. patent application Ser. No. 14/640,859, entitled TIME        DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY,        CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Pat. No.        10,052,044;    -   U.S. patent application Ser. No. 14/640,817, entitled        INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,924,961;    -   U.S. patent application Ser. No. 14/640,844, entitled CONTROL        TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH        SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Pat. No.        10,045,776;    -   U.S. patent application Ser. No. 14/640,837, entitled SMART        SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Pat. No.        9,993,248;    -   U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR        DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A        SURGICAL STAPLER, now U.S. Pat. No. 10,617,412;    -   U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND        POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now        U.S. Pat. No. 9,901,342; and    -   U.S. patent application Ser. No. 14/640,780, entitled SURGICAL        INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. Pat.        No. 10,245,033.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/633,576, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S.        Pat. No. 10,045,779;    -   U.S. patent application Ser. No. 14/633,546, entitled SURGICAL        APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER        OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE        BAND, now U.S. Pat. No. 10,180,463;    -   U.S. patent application Ser. No. 14/633,560, entitled SURGICAL        CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE        BATTERIES, now U.S. Patent Application Publication No.        2016/0249910;    -   U.S. patent application Ser. No. 14/633,566, entitled CHARGING        SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A        BATTERY, now U.S. Pat. No. 10,182,816;    -   U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FOR        MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED,        now U.S. Pat. No. 10,321,907;    -   U.S. patent application Ser. No. 14/633,542, entitled REINFORCED        BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,931,118;    -   U.S. patent application Ser. No. 14/633,548, entitled POWER        ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,245,028;    -   U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE        SURGICAL INSTRUMENT HANDLE, now U.S. Pat. No. 9,993,258;    -   U.S. patent application Ser. No. 14/633,541, entitled MODULAR        STAPLING ASSEMBLY, now U.S. Pat. No. 10,226,250; and    -   U.S. patent application Ser. No. 14/633,562, entitled SURGICAL        APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S.        Pat. No. 10,159,483.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/574,478, entitled SURGICAL        INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND        MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING, now U.S. Pat.        No. 9,844,374;    -   U.S. patent application Ser. No. 14/574,483, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat.        No. 10,188,385;    -   U.S. patent application Ser. No. 14/575,139, entitled DRIVE        ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,844,375;    -   U.S. patent application Ser. No. 14/575,148, entitled LOCKING        ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE        SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748;    -   U.S. patent application Ser. No. 14/575,130, entitled SURGICAL        INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A        DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now        U.S. Pat. No. 10,245,027;    -   U.S. patent application Ser. No. 14/575,143, entitled SURGICAL        INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat.        No. 10,004,501;    -   U.S. patent application Ser. No. 14/575,117, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309;    -   U.S. patent application Ser. No. 14/575,154, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355;    -   U.S. patent application Ser. No. 14/574,493, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM,        now U.S. Pat. No. 9,987,000; and    -   U.S. patent application Ser. No. 14/574,500, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM,        now U.S. Pat. No. 10,117,649.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 13/782,295, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR        SIGNAL COMMUNICATION, now U.S. Pat. No. 9,700,309;    -   U.S. patent application Ser. No. 13/782,323, entitled ROTARY        POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,782,169;    -   U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL        SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2014/0249557;    -   U.S. patent application Ser. No. 13/782,499, entitled        ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT,        now U.S. Pat. No. 9,358,003;    -   U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE        PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,554,794;    -   U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK        SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.        9,326,767;    -   U.S. patent application Ser. No. 13/782,481, entitled SENSOR        STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now        U.S. Pat. No. 9,468,438;    -   U.S. patent application Ser. No. 13/782,518, entitled CONTROL        METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT        PORTIONS, now U.S. Patent Application Publication No.        2014/0246475;    -   U.S. patent application Ser. No. 13/782,375, entitled ROTARY        POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM,        now U.S. Pat. No. 9,398,911; and    -   U.S. patent application Ser. No. 13/782,536, entitled SURGICAL        INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 13/803,097, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now        U.S. Pat. No. 9,687,230;    -   U.S. patent application Ser. No. 13/803,193, entitled CONTROL        ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now        U.S. Pat. No. 9,332,987;    -   U.S. patent application Ser. No. 13/803,053, entitled        INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL        INSTRUMENT, now U.S. Pat. No. 9,883,860;    -   U.S. patent application Ser. No. 13/803,086, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION        LOCK, now U.S. Patent Application Publication No. 2014/0263541;    -   U.S. patent application Ser. No. 13/803,210, entitled SENSOR        ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,808,244;    -   U.S. patent application Ser. No. 13/803,148, entitled        MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Pat.        No. 10,470,762;    -   U.S. patent application Ser. No. 13/803,066, entitled DRIVE        SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,629,623;    -   U.S. patent application Ser. No. 13/803,117, entitled        ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,351,726;    -   U.S. patent application Ser. No. 13/803,130, entitled DRIVE        TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,351,727; and    -   U.S. patent application Ser. No. 13/803,159, entitled METHOD AND        SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Pat. No.        9,888,919.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 14/200,111, entitled CONTROL        SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/226,106, entitled POWER        MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2015/0272582;    -   U.S. patent application Ser. No. 14/226,099, entitled        STERILIZATION VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;    -   U.S. patent application Ser. No. 14/226,094, entitled        VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now        U.S. Patent Application Publication No. 2015/0272580;    -   U.S. patent application Ser. No. 14/226,117, entitled POWER        MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE        UP CONTROL, now U.S. Pat. No. 10,013,049;    -   U.S. patent application Ser. No. 14/226,075, entitled MODULAR        POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES,        now U.S. Pat. No. 9,743,929;    -   U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK        ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 10,028,761;    -   U.S. patent application Ser. No. 14/226,116, entitled SURGICAL        INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent        Application Publication No. 2015/0272571;    -   U.S. patent application Ser. No. 14/226,071, entitled SURGICAL        INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S.        Pat. No. 9,690,362;    -   U.S. patent application Ser. No. 14/226,097, entitled SURGICAL        INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No.        9,820,738;    -   U.S. patent application Ser. No. 14/226,126, entitled INTERFACE        SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No.        10,004,497;    -   U.S. patent application Ser. No. 14/226,133, entitled MODULAR        SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application        Publication No. 2015/0272557;    -   U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS        AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat.        No. 9,804,618;    -   U.S. patent application Ser. No. 14/226,076, entitled POWER        MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE        PROTECTION, now U.S. Pat. No. 9,733,663;    -   U.S. patent application Ser. No. 14/226,111, entitled SURGICAL        STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and    -   U.S. patent application Ser. No. 14/226,125, entitled SURGICAL        INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No.        10,201,364.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY        AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        10,111,679;    -   U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT        WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S.        Pat. No. 9,724,094;    -   U.S. patent application Ser. No. 14/478,908, entitled MONITORING        DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat.        No. 9,737,301;    -   U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE        SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR′S OUTPUT OR        INTERPRETATION, now U.S. Pat. No. 9,757,128;    -   U.S. patent application Ser. No. 14/479,110, entitled USE OF        POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE,        now U.S. Pat. No. 10,016,199;    -   U.S. patent application Ser. No. 14/479,098, entitled SMART        CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat.        No. 10,135,242;    -   U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE        MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        9,788,836; and    -   U.S. patent application Ser. No. 14/479,108, entitled LOCAL        DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent        Application Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/248,590, entitled MOTOR        DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now        U.S. Pat. No. 9,826,976;    -   U.S. patent application Ser. No. 14/248,581, entitled SURGICAL        INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE        OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No.        9,649,110;    -   U.S. patent application Ser. No. 14/248,595, entitled SURGICAL        INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE        OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Pat. No.        9,844,368;    -   U.S. patent application Ser. No. 14/248,588, entitled POWERED        LINEAR SURGICAL STAPLER, now U.S. Pat. No. 10,405,857;

U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSIONARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,149,680;

-   -   U.S. patent application Ser. No. 14/248,584, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR        ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS,        now U.S. Pat. No. 9,801,626;    -   U.S. patent application Ser. No. 14/248,587, entitled POWERED        SURGICAL STAPLER, now U.S. Pat. No. 9,867,612;    -   U.S. patent application Ser. No. 14/248,586, entitled DRIVE        SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now        U.S. Pat. No. 10,136,887; and    -   U.S. patent application Ser. No. 14/248,607, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION        ARRANGEMENTS, now U.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. Provisional Patent Application Ser. No. 61/812,365,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR;    -   U.S. Provisional Patent Application Ser. No. 61/812,376,        entitled LINEAR CUTTER WITH POWER;    -   U.S. Provisional Patent Application Ser. No. 61/812,382,        entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;    -   U.S. Provisional Patent Application Ser. No. 61/812,385,        entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION        MOTORS AND MOTOR CONTROL; and    -   U.S. Provisional Patent Application Ser. No. 61/812,372,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich first jaw is pivotable relative to the second jaw. The surgicalstapling system further comprises an articulation joint configured topermit the end effector to be rotated, or articulated, relative to theshaft. The end effector is rotatable about an articulation axisextending through the articulation joint. Other embodiments areenvisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

FIGS. 1-4 depict a motor-driven surgical cutting and fasteninginstrument 10 that may or may not be reused. In the illustratedembodiment, the instrument 10 includes a housing 12 that comprises ahandle 14 that is configured to be grasped, manipulated and actuated bythe clinician. The housing 12 is configured for operable attachment toan elongate shaft assembly 200 that has a surgical end effector 300operably coupled thereto that is configured to perform one or moresurgical tasks or procedures. The elongate shaft assembly 200 may beinterchangeable with other shaft assemblies in the various mannersdisclosed, for example, in U.S. patent application Ser. No. 14/226,075,entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFTASSEMBLIES, now U.S. Pat. No. 9,743,929, the entire disclosure of whichis hereby incorporated by reference herein. In other arrangements, theelongate shaft assembly may not be interchangeable with other shaftassemblies and essentially comprise a dedicated non-removable portion ofthe instrument.

As the present Detailed Description proceeds, it will be understood thatthe various forms of interchangeable shaft assemblies disclosed hereinmay also be effectively employed in connection withrobotically-controlled surgical systems. Thus, the term “housing” mayalso encompass a housing or similar portion of a robotic system thathouses or otherwise operably supports at least one drive system that isconfigured to generate and apply at least one control motion which couldbe used to actuate the elongate shaft assemblies disclosed herein andtheir respective equivalents. The term “frame” may refer to a portion ofa handheld surgical instrument. The term “frame” may also represent aportion of a robotically controlled surgical instrument and/or a portionof the robotic system that may be used to operably control a surgicalinstrument. For example, the shaft assemblies disclosed herein may beemployed with various robotic systems, instruments, components andmethods disclosed in U.S. patent application Ser. No. 13/118,241,entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, now U.S. Pat. No. 9,072,535, which is hereby incorporatedby reference herein in its entirety.

The housing 12 depicted in FIG. 1 is shown in connection with theelongate shaft assembly 200 that includes a surgical end effector 300that comprises a surgical cutting and fastening device that isconfigured to operably support a surgical staple cartridge 304 therein.The housing 12 may be configured for use in connection with shaftassemblies that include end effectors that are adapted to supportdifferent sizes and types of staple cartridges, have different shaftlengths, sizes, and types, etc. In addition, the housing 12 may also beeffectively employed with a variety of other shaft assemblies includingthose assemblies that are configured to apply other motions and forms ofenergy such as, for example, radio frequency (RF) energy, ultrasonicenergy and/or motion to end effector arrangements adapted for use inconnection with various surgical applications and procedures.Furthermore, the end effectors, shaft assemblies, handles, surgicalinstruments, and/or surgical instrument systems can utilize any suitablefastener, or fasteners, to fasten tissue. For instance, a fastenercartridge comprising a plurality of fasteners removably stored thereincan be removably inserted into and/or attached to the end effector of ashaft assembly.

FIG. 1 illustrates the housing 12 or handle 14 of the surgicalinstrument 10 with an interchangeable elongate shaft assembly 200operably coupled thereto. As can be seen in FIG. 1 , the handle 14 maycomprise a pair of interconnectable handle housing segments 16 and 18that may be interconnected by screws, snap features, adhesive, etc. Inthe illustrated arrangement, the handle housing segments 16, 18cooperate to form a pistol grip portion 19 that can be gripped andmanipulated by the clinician. As will be discussed in further detailbelow, the handle 14 operably supports a plurality of drive systemstherein that are configured to generate and apply various controlmotions to corresponding portions of the interchangeable shaft assemblythat is operably attached thereto.

Referring now to FIG. 2 , the handle 14 may further include a frame 20that operably supports a plurality of drive systems. For example, theframe 20 can operably support a “first” or closure drive system,generally designated as 30, which may be employed to apply closing andopening motions to the elongate shaft assembly 200 that is operablyattached or coupled thereto. In at least one form, the closure drivesystem 30 may include an actuator in the form of a closure trigger 32that is pivotally supported by the frame 20. More specifically, asillustrated in FIG. 2 , the closure trigger 32 is pivotally coupled tothe housing 14 by a pin 33. Such arrangement enables the closure trigger32 to be manipulated by a clinician such that when the clinician gripsthe pistol grip portion 19 of the handle 14, the closure trigger 32 maybe easily pivoted from a starting or “unactuated” position to an“actuated” position and more particularly to a fully compressed or fullyactuated position. The closure trigger 32 may be biased into theunactuated position by spring or other biasing arrangement (not shown).In various forms, the closure drive system 30 further includes a closurelinkage assembly 34 that is pivotally coupled to the closure trigger 32.As can be seen in FIG. 2 , the closure linkage assembly 34 may include afirst closure link 36 and a second closure link 38 that are pivotallycoupled to the closure trigger 32 by a pin 35. The second closure link38 may also be referred to herein as an “attachment member” and includea transverse attachment pin 37.

Still referring to FIG. 2 , it can be observed that the first closurelink 36 may have a locking wall or end 39 thereon that is configured tocooperate with a closure release assembly 60 that is pivotally coupledto the frame 20. In at least one form, the closure release assembly 60may comprise a release button assembly 62 that has a distally protrudinglocking pawl 64 formed thereon. The release button assembly 62 may bepivoted in a counterclockwise direction by a release spring (not shown).As the clinician depresses the closure trigger 32 from its unactuatedposition towards the pistol grip portion 19 of the handle 14, the firstclosure link 36 pivots upward to a point wherein the locking pawl 64drops into retaining engagement with the locking wall 39 on the firstclosure link 36 thereby preventing the closure trigger 32 from returningto the unactuated position. Thus, the closure release assembly 60 servesto lock the closure trigger 32 in the fully actuated position. When theclinician desires to unlock the closure trigger 32 to permit it to bebiased to the unactuated position, the clinician simply pivots theclosure release button assembly 62 such that the locking pawl 64 ismoved out of engagement with the locking wall 39 on the first closurelink 36. When the locking pawl 64 has been moved out of engagement withthe first closure link 36, the closure trigger 32 may pivot back to theunactuated position. Other closure trigger locking and releasearrangements may also be employed.

When the closure trigger 32 is moved from its unactuated position to itsactuated position, the closure release button 62 is pivoted between afirst position and a second position. The rotation of the closurerelease button 62 can be referred to as being an upward rotation;however, at least a portion of the closure release button 62 is beingrotated toward the circuit board 100. Still referring to FIG. 2 , theclosure release button 62 can include an arm 61 extending therefrom anda magnetic element 63, such as a permanent magnet, for example, mountedto the arm 61. When the closure release button 62 is rotated from itsfirst position to its second position, the magnetic element 63 can movetoward the circuit board 100. The circuit board 100 can include at leastone sensor that is configured to detect the movement of the magneticelement 63. In at least one embodiment, a “Hall effect” sensor can bemounted to the bottom surface of the circuit board 100. The Hall effectsensor can be configured to detect changes in a magnetic fieldsurrounding the Hall effect sensor that are caused by the movement ofthe magnetic element 63. The Hall effect sensor can be in signalcommunication with a microcontroller, for example, which can determinewhether the closure release button 62 is in its first position, which isassociated with the unactuated position of the closure trigger 32 andthe open configuration of the end effector, its second position, whichis associated with the actuated position of the closure trigger 32 andthe closed configuration of the end effector, and/or any positionbetween the first position and the second position.

Also in the illustrated arrangement, the handle 14 and the frame 20operably support another drive system referred to herein as a firingdrive system 80 that is configured to apply firing motions tocorresponding portions of the interchangeable shaft assembly attachedthereto. The firing drive system may 80 also be referred to herein as a“second drive system”. The firing drive system 80 may employ an electricmotor 82, located in the pistol grip portion 19 of the handle 14. Invarious forms, the motor 82 may be a DC brushed driving motor having amaximum rotation of, approximately, 25,000 RPM, for example. In otherarrangements, the motor may include a brushless motor, a cordless motor,a synchronous motor, a stepper motor, or any other suitable electricmotor. The motor 82 may be powered by a power source 90 that in one formmay comprise a removable power pack 92. As can be seen in FIG. 2 , forexample, the power pack 92 may comprise a proximal housing portion 94that is configured for attachment to a distal housing portion 96. Theproximal housing portion 94 and the distal housing portion 96 areconfigured to operably support a plurality of batteries 98 therein.Batteries 98 may each comprise, for example, a Lithium Ion (“LI”) orother suitable battery. The distal housing portion 96 is configured forremovable operable attachment to a control circuit board assembly 100which is also operably coupled to the motor 82. A number of batteries 98may be connected in series may be used as the power source for thesurgical instrument 10. In addition, the power source 90 may bereplaceable and/or rechargeable.

As outlined above with respect to other various forms, the electricmotor 82 includes a rotatable shaft (not shown) that operably interfaceswith a gear reducer assembly 84 that is mounted in meshing engagementwith a with a set, or rack, of drive teeth 122 on alongitudinally-movable drive member 120. In use, a voltage polarityprovided by the power source 90 can operate the electric motor 82 in aclockwise direction wherein the voltage polarity applied to the electricmotor by the battery can be reversed in order to operate the electricmotor 82 in a counter-clockwise direction. When the electric motor 82 isrotated in one direction, the drive member 120 will be axially driven inthe distal direction DD. When the motor 82 is driven in the oppositerotary direction, the drive member 120 will be axially driven in aproximal direction PD. The handle 14 can include a switch which can beconfigured to reverse the polarity applied to the electric motor 82 bythe power source 90. As with the other forms described herein, thehandle 14 can also include a sensor that is configured to detect theposition of the drive member 120 and/or the direction in which the drivemember 120 is being moved.

Actuation of the motor 82 is controlled by a firing trigger 130 that ispivotally supported on the handle 14. The firing trigger 130 may bepivoted between an unactuated position and an actuated position. Thefiring trigger 130 may be biased into the unactuated position by aspring 132 or other biasing arrangement such that when the clinicianreleases the firing trigger 130, it may be pivoted or otherwise returnedto the unactuated position by the spring 132 or biasing arrangement. Inat least one form, the firing trigger 130 can be positioned “outboard”of the closure trigger 32 as was discussed above. In at least one form,a firing trigger safety button 134 may be pivotally mounted to theclosure trigger 32 by pin 35. The safety button 134 may be positionedbetween the firing trigger 130 and the closure trigger 32 and have apivot arm 136 protruding therefrom. See FIG. 2 . When the closuretrigger 32 is in the unactuated position, the safety button 134 iscontained in the handle 14 where the clinician cannot readily access itand move it between a safety position preventing actuation of the firingtrigger 130 and a firing position wherein the firing trigger 130 may befired. As the clinician depresses the closure trigger 32, the safetybutton 134 and the firing trigger 130 pivot down wherein they can thenbe manipulated by the clinician.

As discussed above, the handle 14 includes a closure trigger 32 and afiring trigger 130. The firing trigger 130 can be pivotably mounted tothe closure trigger 32. When the closure trigger 32 is moved from itsunactuated position to its actuated position, the firing trigger 130 candescend downwardly, as outlined above. After the safety button 134 hasbeen moved to its firing position, the firing trigger 130 can bedepressed to operate the motor of the surgical instrument firing system.In various instances, the handle 14 can include a tracking systemconfigured to determine the position of the closure trigger 32 and/orthe position of the firing trigger 130.

As indicated above, in at least one form, the longitudinally movabledrive member 120 has a rack of drive teeth 122 formed thereon formeshing engagement with a corresponding drive gear 86 of the gearreducer assembly 84. At least one form also includes amanually-actuatable “bailout” assembly 140 that is configured to enablethe clinician to manually retract the longitudinally movable drivemember 120 should the motor 82 become disabled. The bailout assembly 140may include a lever or bailout handle assembly 142 that is configured tobe manually pivoted into ratcheting engagement with teeth 124 alsoprovided in the drive member 120. Thus, the clinician can manuallyretract the drive member 120 by using the bailout handle assembly 142 toratchet the drive member 120 in the proximal direction PD. U.S. PatentApplication Publication No. 2010/0089970, now U.S. Pat. No. 8,608,045,discloses bailout arrangements and other components, arrangements andsystems that may also be employed with the various instruments disclosedherein. U.S. patent application Ser. No. 12/249,117, entitled POWEREDSURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRINGSYSTEM, now U.S. Pat. No. 8,608,045, is hereby incorporated by referencein its entirety.

Turning now to FIGS. 1 and 3 , the elongate shaft assembly 200 includesa surgical end effector 300 that comprises an elongate channel 302 thatis configured to operably support a staple cartridge 304 therein. Theend effector 300 may further include an anvil 310 that is pivotallysupported relative to the elongate channel 302. As will be discussed infurther detail below, the surgical end effector 300 may be articulatedrelative to the elongate shaft assembly about an articulation joint 270.As can be seen in FIGS. 3 and 4 , the shaft assembly 200 can furtherinclude a proximal housing or nozzle 201 comprised of nozzle portions202 and 203. The shaft assembly 200 further includes a closure sleeve260 which can be utilized to close and/or open an anvil 310 of the endeffector 300. As can be seen in FIG. 4 , the shaft assembly 200 includesa spine 210 which can be configured to fixably support a shaft frameportion 212 of an articulation lock 350. Details regarding theconstruction and operation of the articulation lock 350 are set forth inU.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. PatentApplication Publication No. 2014/0263541, the disclosure of which ishereby incorporated by reference herein in its entirety. The spine 210is configured to, one, slidably support a firing member 220 therein and,two, slidably support the closure sleeve 260 which extends around thespine 210. The spine 210 also slidably supports a proximal articulationdriver 230. The proximal articulation driver 230 has a distal end 231that is configured to operably engage the articulation lock 350. In onearrangement, the articulation lock 350 interfaces with an articulationframe 352 that is adapted to operably engage a drive pin (not shown) onthe end effector frame (not shown).

In the illustrated arrangement, the spine 210 comprises a proximal end211 which is rotatably supported in a chassis 240. In one arrangement,for example, the proximal end 211 of the spine 210 has a thread 214formed thereon for threaded attachment to a spine bearing 216 configuredto be supported within the chassis 240. See FIG. 3 . Such arrangementfacilitates rotatable attachment of the spine 210 to the chassis 240such that the spine 210 may be selectively rotated about a shaft axisSA-SA relative to the chassis 240. The shaft assembly 200 also includesa closure shuttle 250 that is slidably supported within the chassis 240such that it may be axially moved relative thereto. As can be seen inFIG. 3 , the closure shuttle 250 includes a pair ofproximally-protruding hooks 252 that are configured for attachment tothe attachment pin 37 that is attached to the second closure link 38 aswill be discussed in further detail below. See FIG. 2 . A proximal end261 of the closure sleeve 260 is coupled to the closure shuttle 250 forrelative rotation thereto. For example, a U-shaped connector 263 isinserted into an annular slot 262 in the proximal end 261 of the closuresleeve 260 and is retained within vertical slots 253 in the closureshuttle 250. See FIG. 3 . Such arrangement serves to attach the closuresleeve 260 to the closure shuttle 250 for axial travel therewith whileenabling the closure sleeve 260 to rotate relative to the closureshuttle 250 about the shaft axis SA-SA. A closure spring 268 isjournaled on the closure sleeve 260 and serves to bias the closuresleeve 260 in the proximal direction PD which can serve to pivot theclosure trigger into the unactuated position when the shaft assembly 200is operably coupled to the handle 14.

As was also indicated above, the elongate shaft assembly 200 furtherincludes a firing member 220 that is supported for axial travel withinthe shaft spine 210. The firing member 220 includes an intermediatefiring shaft portion 222 that is configured for attachment to a distalcutting portion or firing beam 280. The firing member 220 may also bereferred to herein as a “second shaft” and/or a “second shaft assembly”.As can be seen in FIG. 4 , the intermediate firing shaft portion 222 mayinclude a longitudinal slot 223 in the distal end thereof which can beconfigured to receive a tab 284 on the proximal end 282 of the distalfiring beam 280. The longitudinal slot 223 and the proximal end 282 canbe sized and configured to permit relative movement therebetween and cancomprise a slip joint 286. The slip joint 286 can permit theintermediate firing shaft portion 222 of the firing drive 220 to bemoved to articulate the surgical end effector 300 without moving, or atleast substantially moving, the firing beam 280. Once the surgical endeffector 300 has been suitably oriented, the intermediate firing shaftportion 222 can be advanced distally until a proximal sidewall of thelongitudinal slot 223 comes into contact with the tab 284 in order toadvance the firing beam 280 and fire a staple cartridge that may besupported in the end effector 300. As can be further seen in FIG. 4 ,the shaft spine 210 has an elongate opening or window 213 therein tofacilitate assembly and insertion of the intermediate firing shaftportion 222 into the shaft frame 210. Once the intermediate firing shaftportion 222 has been inserted therein, a top frame segment 215 may beengaged with the shaft frame 212 to enclose the intermediate firingshaft portion 222 and firing beam 280 therein. Further description ofthe operation of the firing member 220 may be found in U.S. patentapplication Ser. No. 13/803,086, now U.S. Patent Application PublicationNo. 2014/0263541.

Further to the above, the illustrated shaft assembly 200 includes aclutch assembly 400 which can be configured to selectively andreleasably couple the articulation driver 230 to the firing member 220.In one form, the clutch assembly 400 includes a lock collar, or sleeve402, positioned around the firing member 220 wherein the lock sleeve 402can be rotated between an engaged position in which the lock sleeve 402couples the articulation driver 360 to the firing member 220 and adisengaged position in which the articulation driver 360 is not operablycoupled to the firing member 200. When lock sleeve 402 is in its engagedposition, distal movement of the firing member 220 can move thearticulation driver 360 distally and, correspondingly, proximal movementof the firing member 220 can move the proximal articulation driver 230proximally. When lock sleeve 402 is in its disengaged position, movementof the firing member 220 is not transmitted to the proximal articulationdriver 230 and, as a result, the firing member 220 can moveindependently of the proximal articulation driver 230. In variouscircumstances, the proximal articulation driver 230 can be held inposition by the articulation lock 350 when the proximal articulationdriver 230 is not being moved in the proximal or distal directions bythe firing member 220.

As can be further seen in FIG. 4 , the lock sleeve 402 can comprise acylindrical, or an at least substantially cylindrical, body including alongitudinal aperture 403 defined therein configured to receive thefiring member 220. The lock sleeve 402 can comprisediametrically-opposed, inwardly-facing lock protrusions 404 and anoutwardly-facing lock member 406. The lock protrusions 404 can beconfigured to be selectively engaged with the firing member 220. Moreparticularly, when the lock sleeve 402 is in its engaged position, thelock protrusions 404 are positioned within a drive notch 224 defined inthe firing member 220 such that a distal pushing force and/or a proximalpulling force can be transmitted from the firing member 220 to the locksleeve 402. When the lock sleeve 402 is in its engaged position, asecond lock member 406 is received within a drive notch 232 defined inthe proximal articulation driver 230 such that the distal pushing forceand/or the proximal pulling force applied to the lock sleeve 402 can betransmitted to the proximal articulation driver 230. In effect, thefiring member 220, the lock sleeve 402, and the proximal articulationdriver 230 will move together when the lock sleeve 402 is in its engagedposition. On the other hand, when the lock sleeve 402 is in itsdisengaged position, the lock protrusions 404 may not be positionedwithin the drive notch 224 of the firing member 220 and, as a result, adistal pushing force and/or a proximal pulling force may not betransmitted from the firing member 220 to the lock sleeve 402.Correspondingly, the distal pushing force and/or the proximal pullingforce may not be transmitted to the proximal articulation driver 230. Insuch circumstances, the firing member 220 can be slid proximally and/ordistally relative to the lock sleeve 402 and the proximal articulationdriver 230.

As can also be seen in FIG. 4 , the elongate shaft assembly 200 furtherincludes a switch drum 500 that is rotatably received on the closuresleeve 260. The switch drum 500 comprises a hollow shaft segment 502that has a shaft boss 504 formed thereon for receive an outwardlyprotruding actuation pin 410 therein. In various circumstances, theactuation pin 410 extends through a slot 267 into a longitudinal slot408 provided in the lock sleeve 402 to facilitate axial movement of thelock sleeve 402 when it is engaged with the proximal articulation driver230. A rotary torsion spring 420 is configured to engage the shaft boss504 on the switch drum 500 and a portion of the nozzle housing 203 toapply a biasing force to the switch drum 500. The switch drum 500 canfurther comprise at least partially circumferential openings 506 definedtherein which, referring to FIGS. 5 and 6 , can be configured to receivecircumferential mounts extending from the nozzle portions 202, 203 andpermit relative rotation, but not translation, between the switch drum500 and the proximal nozzle 201. The mounts also extend through openings266 in the closure sleeve 260 to be seated in recesses in the shaftspine 210. However, rotation of the nozzle 201 to a point where themounts reach the end of their respective slots 506 in the switch drum500 will result in rotation of the switch drum 500 about the shaft axisSA-SA. Rotation of the switch drum 500 will ultimately result in therotation of the actuation pin 410 and the lock sleeve 402 between itsengaged and disengaged positions. Thus, in essence, the nozzle 201 maybe employed to operably engage and disengage the articulation drivesystem with the firing drive system in the various manners described infurther detail in U.S. patent application Ser. No. 13/803,086, now U.S.Patent Application Publication No. 2014/0263541.

As also illustrated in FIGS. 3 and 4 , the elongate shaft assembly 200can comprise a slip ring assembly 600 which can be configured to conductelectrical power to and/or from the end effector 300 and/or communicatesignals to and/or from the surgical end effector 300, for example. Theslip ring assembly 600 can comprise a proximal connector flange 604mounted to a chassis flange 242 extending from the chassis 240 and adistal connector flange 601 positioned within a slot defined in theshaft housings 202, 203. The proximal connector flange 604 can comprisea first face and the distal connector flange 601 can comprise a secondface which is positioned adjacent to and movable relative to the firstface. The distal connector flange 601 can rotate relative to theproximal connector flange 604 about the shaft axis SA-SA. The proximalconnector flange 604 can comprise a plurality of concentric, or at leastsubstantially concentric, conductors 602 defined in the first facethereof. A connector 607 can be mounted on the proximal side of thedistal connector flange 601 and may have a plurality of contacts (notshown) wherein each contact corresponds to and is in electrical contactwith one of the conductors 602. Such arrangement permits relativerotation between the proximal connector flange 604 and the distalconnector flange 601 while maintaining electrical contact therebetween.The proximal connector flange 604 can include an electrical connector606 which can place the conductors 602 in signal communication with ashaft circuit board 610 mounted to the shaft chassis 240, for example.In at least one instance, a wiring harness comprising a plurality ofconductors can extend between the electrical connector 606 and the shaftcircuit board 610. The electrical connector 606 may extend proximallythrough a connector opening 243 defined in the chassis mounting flange242. See FIG. 7 . U.S. patent application Ser. No. 13/800,067, entitledSTAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013,now U.S. Patent Application Publication No. 2014/0263552, isincorporated by reference herein in its entirety. U.S. patentapplication Ser. No. 13/800,025, entitled STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. PatentApplication Publication No. 2014/0263551 is incorporated by referenceherein in its entirety. Further details regarding slip ring assembly 600may be found in U.S. patent application Ser. No. 13/803,086, now U.S.Patent Application Publication No. 2014/0263541.

As discussed above, the elongate shaft assembly 200 can include aproximal portion which is fixably mounted to the handle 14 and a distalportion which is rotatable about a longitudinal shaft axis SA-SA. Therotatable distal shaft portion can be rotated relative to the proximalportion about the slip ring assembly 600, as discussed above. The distalconnector flange 601 of the slip ring assembly 600 can be positionedwithin the rotatable distal shaft portion. Moreover, further to theabove, the switch drum 500 can also be positioned within the rotatabledistal shaft portion. When the rotatable distal shaft portion isrotated, the distal connector flange 601 and the switch drum 500 can berotated synchronously with one another. In addition, the switch drum 500can be rotated between a first position and a second position relativeto the distal connector flange 601. When the switch drum 500 is in itsfirst position, the articulation drive system (i.e., the proximalarticulation driver 230) may be operably disengaged from the firingdrive system and, thus, the operation of the firing drive system may notarticulate the end effector 300 of the shaft assembly 200. When theswitch drum 500 is in its second position, the articulation drive system(i.e., the proximal articulation driver 230) may be operably engagedwith the firing drive system and, thus, the operation of the firingdrive system may articulate the end effector 300 of the shaft assembly200. When the switch drum 500 is moved between its first position andits second position, the switch drum 500 is moved relative to distalconnector flange 601. In various instances, the shaft assembly 200 cancomprise at least one sensor that is configured to detect the positionof the switch drum 500.

Referring again to FIG. 4 , the closure sleeve assembly 260 includes adouble pivot closure sleeve assembly 271. According to various forms,the double pivot closure sleeve assembly 271 includes an end effectorclosure sleeve 272 that includes upper and lower distally projectingtangs 273, 274. An upper double pivot link 277 includes upwardlyprojecting distal and proximal pivot pins that engage respectively anupper distal pin hole in the upper proximally projecting tang 273 and anupper proximal pin hole in an upper distally projecting tang 264 on theclosure sleeve 260. A lower double pivot link 278 includes upwardlyprojecting distal and proximal pivot pins that engage respectively alower distal pin hole in the lower proximally projecting tang 274 and alower proximal pin hole in the lower distally projecting tang 265. Seealso FIG. 6 .

FIGS. 5-8 illustrate one form of surgical end effector 300 that isconfigured to be operably attached to an elongate shaft assembly of asurgical instrument of the type described above or other surgicalinstrument arrangements that include a closure system that is configuredto generate control motions for axially moving a closure member that isconfigured to apply closing and opening motions to portions of thesurgical end effector. In the illustrated example, as will be discussedin further detail below, the surgical end effector is configured to bearticulated relative to a proximal portion of the elongate shaftassembly about an articulation joint, generally designated as 339. Otherarrangements, however, may not be capable of articulation. As can beseen in FIG. 6 , the articulation joint 339 defines an articulation axisB-B about which the surgical end effector 300 may be selectivelyarticulated. In the illustrated example, the articulation axis B-B issubstantially transverse to the shaft axis SA-SA of the elongate shaftassembly.

The illustrated surgical end effector 300 includes a first jaw 308 and asecond jaw 309 that is selectively movable relative to the first jaw 308between an open position (FIG. 7 ) and various closed positions (FIG. 8). In the illustrated embodiment, the first jaw 308 comprises anelongate channel 302 that is configured to operably support a surgicalstaple cartridge 304 therein and the second jaw 309 comprises an anvil310. However, other surgical jaw arrangements may be employed withoutdeparting from the spirit and scope of the present invention. As can beseen in FIG. 5 , a support pan 305 may be attached to the surgicalstaple cartridge 304 to provide added support thereto as well as toprevent the staple drivers (not shown) that are supported in the staplepockets 306 that are formed in the surgical staple cartridge 304 fromfalling out of the surgical staple cartridge prior to use. As can beseen in FIG. 5 , the elongate channel 302 has a proximal end portion 320that includes two upstanding lateral walls 322. The anvil 310 includesan anvil body 312 that has a staple-forming undersurface 313 formedthereon. A proximal end 314 of the anvil body is bifurcated by a firingmember slot 315 that defines a pair of anvil attachment arms 316. Eachanvil attachment arm 316 includes a sloping upper surface 321 andincludes a laterally protruding anvil trunnion 317 and a cam slot 318that defines a cam surface or “slotted cam surface” 319. See FIG. 5 .One of the cam slots 318 may be referred to herein as a “first cam slot”with the cam surface thereof being referred to as the “first camsurface”. Similarly, the other cam slot 318 may be referred to as a“second cam slot” with the cam surface thereof being referred to hereinas the “second cam surface”. A trunnion hole 324 is provided in eachlateral wall 322 of the elongate channel 302 for receiving acorresponding one of the anvil trunnions 317 therein. Such arrangementserves to movably affix the anvil 310 to the elongate channel 302 forselective pivotable travel about an anvil axis A-A that is defined bytrunnion holes 324 and which is transverse to the shaft axis SA-SA. SeeFIG. 6 .

In the illustrated arrangement, the anvil 310 is pivotally movedrelative to the elongate channel 302 and the surgical staple cartridge304 supported therein to an open position by a pair of opening cams 354that may be removably supported in or removably attached to orpermanently attached to or integrally formed in an anvil actuatormember. In the illustrated embodiment, the anvil actuator membercomprises the end effector closure sleeve 272. See FIG. 5 . Each openingcam 354 includes an outer body portion 356 that has a cam tab 358protruding inwardly therefrom. The outer body portion 356 is, in atleast one arrangement, configured to be snapped into removableengagement within a corresponding cam hole 355 formed in the endeffector closure sleeve 272. For example, the outer body portion 356 mayinclude a chamfered stop portion 357 that is configured to snappinglyengage a corresponding portion of the end effector closure sleeve wallthat defines the cam hole 355. Another portion of the outer body portion356 may have a dog leg feature 359 formed thereon that is configured tobe received inside a portion of the end effector closure sleeve 272adjacent the cam hole 355. Other snap tab arrangements may also beemployed to removably affix the outer body portion 356 to the endeffector closure sleeve 272. In other arrangements, for example, theouter body portion may not be configured for snapping engagement withthe end effector closure sleeve 272. In such arrangements, the outerbody portions may be retained in position by an annular crimp ring thatextends around the outer circumference of the end effector closuresleeve over the outer body portions of the opening cams and be crimpedin place. The crimp ring serves to trap the outer body portions againstthe outer surface of the end effector closure sleeve. To provide the endeffector closure sleeve with a relatively smooth or uninterrupted outersurface which may advantageously avoid damage to adjacent tissue and/orcollection of tissue/fluid etc. between those components, the crimp ringmay actually be crimped into an annular recess that is formed in the endeffector closure sleeve.

When the opening cams 350 are installed in the end effector closuresleeve 272, each cam tab 358 extends through an elongate slot 326 in thecorresponding lateral wall 322 of the elongate channel 302 to bereceived in a corresponding cam slot 318 in the anvil 310. See FIG. 6 .In such arrangement, the opening cams 350 are diametrically opposite ofeach other in the end effector closure sleeve. In use, the closuresleeve 260 is translated distally (direction DD) to close the anvil 310,for example, in response to the actuation of the closure trigger 32. Theanvil 310 is closed as the closure sleeve 260 is translated in thedistal direction DD so as to bring the distal end 275 of the of endeffector closure sleeve 272 into contact with a closure lip 311 on theanvil body 312. In particular, the distal end 275 of the end effectorclosure sleeve 272 rides on the upper surfaces 321 of the anvilattachment arms 316 as the closure sleeve 260 is moved distally to beginto pivot the anvil 310 to a closed position. In one arrangement forexample, closure of the anvil 310 is solely caused by contact of the endeffector closure sleeve 272 with the anvil 310 and is not caused by theinteraction of the opening cams with the anvil. In other arrangements,however, the opening cams could be arranged to also apply closingmotions to the anvil as the closure sleeve 260 is moved distally. Theanvil 310 is opened by proximally translating the closure sleeve 260 inthe proximal direction PD which causes the cam tabs 358 to move in theproximal direction PD within the cam slots 318 on the cam surfaces 319to pivot the anvil 310 into the open position as shown in FIGS. 6 and 7.

The surgical end effector embodiment 300 employs two opening cams toeffect positive opening of the end effector jaws, even when under aload. Other arrangements could conceivably employ only one opening camor more than two opening cams without departing from the spirit andscope of the present invention. In the illustrated example, the openingcams are removably affixed to the end effector closure sleeve whichfacilitates easy assembly or attachment of the surgical end effectorcomponents to the elongate shaft assembly as well as disassemblythereof. Such configurations also enable the use of more compact orshorter articulation joint arrangements which further facilitate bettermanipulation of the surgical end effector within the confined spacesinside of a patient. To facilitate easy detachment of those opening camsthat are snapped in place, additional strategically placed holes may beprovided in the end effector closure sleeve to enable a pry member to beinserted therethrough to pry the opening cams out of the end effectorclosure sleeve. In still other arrangements, the opening cam(s) may beintegrally formed in the anvil actuator member or end effector closuresleeve. For example, the opening cam(s) may each comprise a tab that iscut into or otherwise formed into the wall of the anvil actuator memberor end effector closure sleeve and then bent, crimped or permanentlydeformed inward so as to engage the corresponding cam surface on thesecond jaw. For example, the tab may be bent inward at ninety degrees(90°) relative to the outer wall of the end effector closure sleeve.Such arrangements avoid the need for separate opening cam components.Other variations may employ a pin or pins that are attached to thesecond jaw and configured to ride on corresponding cam surfaces on thefirst jaw. The pin or pins may be pressed into the first jaw, knurledand then pressed in and/or welded to the first jaw, for example. Whilethe opening cam arrangements discussed above have been described in thecontext of a surgical end effector that is configured to support asurgical staple cartridge and includes an anvil that is configured tomove relative to the surgical staple cartridge, the reader willappreciate that the opening cam arrangements may also be employed withother end effector arrangements that have jaw(s) that are movablerelative to each other.

FIGS. 9 and 10 illustrate an elongate shaft assembly designated as 200′that employs many of the features of elongate shaft assembly 200described above. In the illustrated example, the elongate shaft assembly200′ includes a dual articulation link arrangement designated as 800that employs an articulation lock 810 that is similar to articulationlock 350 described above. Those components of articulation lock 810 thatdiffer from the components of articulation lock 350 and which may benecessary to understand the operation of articulation lock 350 will bediscussed in further detail below. Further details regardingarticulation lock 350 may be found in U.S. patent application Ser. No.13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING ANARTICULATION LOCK, now U.S. Patent Application Publication No.2014/0263541, the entire disclosure of which is hereby incorporated byreference herein. The articulation lock 810 can be configured andoperated to selectively lock the surgical end effector 300 in variousarticulated positions. Such arrangement enables the surgical endeffector 300 to be rotated, or articulated, relative to the shaftclosure sleeve 260 when the articulation lock 810 is in its unlockedstate.

As was discussed above, when the proximal articulation driver 230 isoperatively engaged with the firing member 220 via the clutch system400, the firing member 220 can move the proximal articulation driver 230proximally and/or distally. For instance, proximal movement of thefiring member 220 can move the proximal articulation driver 230proximally and, similarly, distal movement of the firing member 220 canmove the proximal articulation driver 230 distally. Movement of theproximal articulation driver 230, whether it be proximal or distal, canunlock the articulation lock 810, as described in greater detail furtherbelow. As can be seen in FIG. 9 for example, the elongate shaft assembly200′ includes a shaft frame 812 which is somewhat co-extensive with afirst distal articulation driver 820. A first distal articulation driver820 is supported within the elongate shaft assembly 200′ for selectivelongitudinal travel in a distal direction DD and a proximal direction PDin response to corresponding articulation control motions appliedthereto. The shaft frame 812 includes a distal end portion 814 that hasa downwardly protruding pivot pin (not shown) thereon that is adapted tobe pivotally received within a pivot hole 328 formed in the proximal endportion 320 of the elongate channel 302. See, for example, the similararrangement depicted in FIG. 5 . Such arrangement facilitates pivotaltravel of the elongate channel 302 of the surgical end effector 300relative to the shaft frame 812 about an articulation axis B-B that isdefined by the pivot hole 328. As indicated above, the articulation axisB-B is transverse to the shaft axis SA-SA that is defined by elongateshaft assembly 200′.

Referring again to FIG. 9 , the first distal articulation driver 820includes a first, or distal, lock cavity 822 and a second, or proximal,lock cavity 824, wherein the first lock cavity 822 and the second lockcavity 824 can be separated by an intermediate frame member 825. Thearticulation lock 810 can further include at least one first lockelement 826 at least partially positioned within the first lock cavity822 which can be configured to inhibit or prevent the proximal movementof the first distal articulation driver 820. In the embodimentillustrated in FIG. 9 , for example, there are three first lock elements826 positioned within the first lock cavity 822 which can all act in asimilar, parallel manner and can co-operatively act as a single lockelement. Other embodiments are envisioned which can utilize more thanthree or less than three first lock elements 826. Similarly, thearticulation lock 810 can further include at least one second lockelement 828 at least partially positioned within the second lock cavity824 which can be configured to inhibit or prevent the distal movement ofthe first distal articulation driver 820. With regard to the particularembodiment illustrated in FIG. 9 , there are three second lock elements828 positioned within the second lock cavity 824 which can all act in asimilar, parallel manner and can co-operatively act as a single lockelement. Other embodiments are envisioned which can utilize more thanthree or less than three second lock elements 828.

Further to the above, referring primarily to FIG. 9 , each first lockelement 826 is slidably supported on a frame rail 830 and includes alock tang 827. Each of the first lock elements 826 have a lock aperturetherein (not shown) for receiving the frame rail 830 therethrough. Thelock tang 827 can be disposed within the first lock cavity 822 and thelock aperture can be slidably engaged with a frame rail 830 mounted tothe shaft frame 812. The first lock elements 826 are not oriented in aperpendicular arrangement with the frame rail 830; rather, the firstlock elements 826 are arranged and aligned at a non-perpendicular anglewith respect to the frame rail 830 such that the edges or sidewalls ofthe lock apertures are engaged with the frame rail 830. Moreover, theinteraction between the sidewalls of the lock apertures and the framerail 830 can create a resistive or friction force therebetween which caninhibit relative movement between the first lock elements 826 and theframe rail 830 and, as a result, resist a proximal pushing force Papplied to the first distal articulation driver 820. Stated another way,the first lock elements 826 can prevent or at least inhibit the surgicalend effector 300 from rotating in a direction indicated by arrow 821. Ifa torque is applied to the end effector 300 in the direction of arrow821, a proximal pushing force P will be transmitted to the distalarticulation driver 820. The proximal pushing force P will only serve tobolster the locking engagement between the first lock elements 826 andthe frame rail 830. More particularly, the proximal pushing force P canbe transmitted to the tangs 827 of the first lock elements 826 which cancause the first lock elements 826 to rotate and decrease the angledefined between first lock elements 826 and the frame rail 830 and, as aresult, increase the bite between the sidewalls of the lock aperturesand the frame rail 830. Ultimately, then, the first lock elements 826can lock the movement of the first distal articulation driver 820 in onedirection.

To release the first lock elements 826 and permit the surgical endeffector 300 to be rotated in the direction indicated by arrow 821, theproximal articulation driver 230 can be pulled proximally to straighten,or at least substantially straighten, the first lock elements 826 into aperpendicular, or at least substantially perpendicular, position. Insuch a position, the bite, or resistive force, between the sidewalls ofthe lock apertures and the frame rail 830 can be sufficiently reduced,or eliminated, such that the first distal articulation driver 820 can bemoved proximally. To straighten the first lock elements 826, theproximal articulation driver 230 can be pulled proximally such that adistal arm 233 of the proximal articulation driver 230 contacts thefirst lock elements 826 to pull and rotate the first lock elements 826into their straightened position. In various circumstances, the proximalarticulation driver 230 can continue to be pulled proximally until aproximal arm 235 extending therefrom contacts, or abuts, a proximaldrive wall 832 of the first distal articulation driver 820 and pulls thedistal articulation driver 820 proximally to articulate the surgical endeffector 300. In essence, a proximal pulling force can be applied fromthe proximal articulation driver 230 to the distal articulation driver820 through the interaction between the proximal arm 235 and theproximal drive wall 832 wherein such a pulling force can be transmittedthrough the first distal drive member 820 to the end effector 300 aswill be further discussed below to articulate the end effector 300 inthe direction indicated by arrow 821. After the surgical end effector300 has been suitably articulated in the direction of arrow 821, thefirst distal articulation driver 820 can be released, in variouscircumstances, to permit the articulation lock 810 to re-lock the firstdistal articulation driver 820, and the surgical end effector 300, inposition.

Concurrent to the above, referring again to FIG. 9 , the second lockelements 828 can remain in an angled position while the first lockelements 826 are locked and unlocked as described above. The reader willappreciate that, although the second lock elements 828 are arranged andaligned in an angled position with respect to the shaft rail 830, thesecond lock elements 828 are not configured to impede, or at leastsubstantially impede, the proximal motion of the first distalarticulation driver 820. When the first distal articulation driver 820and articulation lock 810 are slid proximally, as described above, thesecond lock elements 828 can slide distally along the frame rail 830without, in various circumstances, changing, or at least substantiallychanging, their angled alignment with respect to the frame rail 830.While the second lock elements 828 are permissive of the proximalmovement of the first distal articulation driver 820 and thearticulation lock 810, the second lock elements 828 can be configured toselectively prevent, or at least inhibit, the distal movement of thefirst distal articulation driver 820, as discussed in greater detailfurther below.

Each second lock element 828 can comprise a lock aperture (not shown)and a lock tang 829. The lock tang 829 can be disposed within the secondlock cavity 824 and the lock aperture can be slidably engaged with theframe rail 830 mounted to the shaft frame 812. The frame rail 830extends through the apertures in the second lock elements 828. Thesecond lock elements 828 are not oriented in a perpendicular arrangementwith the frame rail 830; rather, the second lock elements 828 arearranged and aligned at a non-perpendicular angle with respect to theframe rail 830 such that the edges or sidewalls of the lock aperturesare engaged with the frame rail 830. Moreover, the interaction betweenthe sidewalls of the lock apertures and the frame rail 830 can create aresistive or friction force therebetween which can inhibit relativemovement between the second lock elements 828 and the frame rail 830and, as a result, resist a distal force D applied to the first distalarticulation driver 820. Stated another way, the second lock elements828 can prevent or at least inhibit the surgical end effector 300 fromrotating in a direction indicated by arrow 823. If a torque is appliedto the end effector 300 in the direction of arrow 823, a distal pullingforce D will be transmitted to the first distal articulation driver 820.The distal pulling force D will only serve to bolster the lockingengagement between the second lock elements 828 and the frame rail 830.More particularly, the distal pulling force D can be transmitted to thetangs 829 of the second lock elements 828 which can cause the secondlock elements 828 to rotate and decrease the angle defined betweensecond lock elements 828 and the frame rail 830 and, as a result,increase the bite between the sidewalls of the lock apertures and theframe rail 830. Ultimately, then, the second lock elements 828 can lockthe movement of the first distal articulation driver 820 in onedirection.

To release the second lock elements 828 and permit the surgical endeffector 300 to be articulated in the direction indicated by arrow 823,the proximal articulation driver 230 can be pushed distally tostraighten, or at least substantially straighten, the second lockelements 828 into a perpendicular, or at least substantiallyperpendicular, position. In such a position, the bite, or resistiveforce, between the sidewalls of the lock apertures and the frame rail830 can be sufficiently reduced, or eliminated, such that the firstdistal articulation driver 820 can be moved distally. To straighten thesecond lock elements 828, the proximal articulation driver 230 can bepushed distally such that the proximal arm 235 of the proximalarticulation driver 230 contacts the second lock elements 828 to pushand rotate the second lock elements 828 into their straightenedposition. In various circumstances, the proximal articulation driver 230can continue to be pushed distally until the distal arm 233 extendingtherefrom contacts, or abuts, a distal drive wall 833 of the firstdistal articulation driver 820 and pushes the first distal articulationdriver 820 distally to articulate the surgical end effector 300. Inessence, a distal pushing force can be applied from the proximalarticulation driver 230 to the first distal articulation driver 820through the interaction between the distal arm 233 and the distal drivewall 833 wherein such a pushing force can be transmitted through thefirst distal articulation driver 820 to articulate the end effector 300in the direction indicated by arrow 823. After the surgical end effector300 has been suitably articulated in the direction of arrow 823, thefirst distal articulation driver 820 can be released, in variouscircumstances, to permit the articulation lock 810 to re-lock the firstdistal articulation driver 820, and the surgical end effector 300, inposition.

Concurrent to the above, the first lock elements 826 can remain in anangled position while the second lock elements 828 are locked andunlocked as described above. The reader will appreciate that, althoughthe first lock elements 826 are arranged and aligned in an angledposition with respect to the shaft rail 830, the first lock elements 826are not configured to impede, or at least substantially impede, thedistal motion of the first distal articulation driver 820. When thefirst distal articulation driver 820 and articulation lock 810 are sliddistally, as described above, the first lock elements 826 can slidedistally along the frame rail 830 without, in various circumstances,changing, or at least substantially changing, their angled alignmentwith respect to the frame rail 830. While the first lock elements 826are permissive of the distal movement of the first distal articulationdriver 820 and the articulation lock 810, the first lock elements 826are configured to selectively prevent, or at least inhibit, the proximalmovement of the first distal articulation driver 820, as discussedabove.

In view of the above, the articulation lock 810, in a locked condition,can be configured to resist the proximal and distal movements of thefirst distal articulation driver 820. In terms of resistance, thearticulation lock 810 can be configured to prevent, or at leastsubstantially prevent, the proximal and distal movements of the firstdistal articulation driver 820. Collectively, the proximal motion of thefirst distal articulation driver 820 is resisted by the first lockelements 826 when the first lock elements 826 are in their lockedorientation and the distal motion of the first distal articulationdriver 820 is resisted by the second lock elements 828 when the secondlock elements 828 are in their locked orientation, as described above.Stated another way, the first lock elements 826 comprise a first one-waylock and the second lock elements 828 comprise a second one-way lockwhich locks in an opposite direction.

Discussed in connection with the exemplary embodiment illustrated inFIGS. 9 and 10 , an initial proximal movement of the proximalarticulation driver 230 can unlock the proximal movement of the firstdistal articulation driver 820 and the articulation lock 810 while afurther proximal movement of the proximal articulation driver 230 candrive the first distal articulation driver 820 and the articulation lock810 proximally. Similarly, an initial distal movement of the proximalarticulation driver 230 can unlock the distal movement of the firstdistal articulation driver 820 and the articulation lock 810 while afurther distal movement of the proximal articulation driver 230 candrive the first distal articulation driver 820 and the articulation lock810 distally. Such a general concept is discussed in connection withseveral additional exemplary embodiments disclosed below. To the extentthat such discussion is duplicative, or generally cumulative, with thediscussion provided above, such discussion is not reproduced for thesake of brevity.

Still referring to FIGS. 9 and 10 , the dual articulation linkarrangement 800 is configured to establish a “push/pull” arrangementwhen an articulation force is applied thereto through the first distalarticulation driver 820. As can be seen in those Figures, the firstdistal articulation driver 820 has a first drive rack 842 formedtherein. A first articulation rod 844 protrudes distally out of thefirst distal articulation driver 820 and is attached to a first movablecoupler 850 that is attached to the first distal articulation driver 820by a first ball joint 852. The first coupler 850 is also pivotallypinned to the proximal end portion 320 of the elongate channel 302 by afirst pin 854 as can be seen in FIG. 9 . The dual articulation linkarrangement 800 further comprises a second distal articulation driver860 that has a second drive rack 862 formed therein. The second distalarticulation driver 860 is movably supported within the elongate shaftassembly 200′ for longitudinal travel in the distal direction DD and theproximal direction PD. A second articulation rod 864 protrudes distallyout of the second distal articulation driver 860 and is attached to asecond movable coupler 870 that is attached to the second distalarticulation driver 860 by a second ball joint 872. The second coupler870 is also pivotally pinned to the proximal end portion 320 of theelongate channel 302 by a second pin 874 as can be seen in FIG. 9 . Ascan be seen in FIG. 9 , the first coupler 850 is attached to theelongate channel 302 on one lateral side of the shaft axis SA and thesecond coupler 870 is attached to the elongate channel 302 on anopposite lateral side of the shaft axis. Thus, by simultaneously pullingon one of the couplers 850, 870 and pushing on the other coupler850,870, the surgical end effector 300 will be articulated about thearticulation axis B-B relative to the elongate shaft assembly 200′. Inthe illustrated arrangements, although the couplers 850, 870 thatfacilitate relative movement between the first and second distalarticulation drivers 820, 860, respectively and the elongate channel 302are fabricated from relatively rigid components, other arrangements mayemploy relatively “flexible” coupler arrangements. For example cable(s),etc. may extend through one or both of the distal articulation drivers820, 860, couplers 850, 870 and the ball joints 852, 872, to be coupledto the elongate channel to facilitate the transfer of articulationmotions thereto.

As can also be seen in FIGS. 9 and 10 , a proximal pinion gear 880 and adistal pinion gear 882 are centrally disposed between the first driverack 842 and the second drive rack 862 and are in meshing engagementtherewith. In alternative embodiments, only one pinion gear or more thantwo pinion gears may be employed. Thus, at least one pinion gear isemployed. The proximal pinion gear 880 and the distal pinion gear 882are rotatably supported in the shaft frame 812 for free rotationrelative thereto such that as the first distal articulation driver 820is moved in the distal direction DD, the pinion gears 870, 872 serve todrive the second distal articulation driver 860 in the proximaldirection PD. Likewise, when the first distal articulation driver 820 ispulled in the proximal direction PD, the pinion gears 880, 882 drive thesecond distal articulation driver 860 in the distal direction DD. Thus,to articulate the end effector 300 about the articulation axis B-B inthe direction of arrow 821, the articulation driver 230 is operativelyengaged with the firing member 220 via the clutch system 400 such thatthe firing member 220 moves or pulls the proximal articulation driver230 in the proximal direction PD. Movement of the proximal articulationdriver 230 in the proximal direction moves the first distal articulationdriver 820 in the proximal direction as well. As the first distalarticulation driver 820 moves the in the proximal direction, the piniongears 880, 882 serve to drive the second distal articulation driver 860in the distal direction DD. Such movement of the first and second distalarticulation drivers 820, 860 causes the surgical end effector 300 andmore specifically, the elongate channel 302 of the surgical end effector300 to pivot about the articulation axis B-B in the articulationdirection of arrow 821. Conversely, to articulate the end effector 300in the direction of arrow 823, the firing member 220 is actuated to pushthe first distal articulation driver 820 in the distal direction DD. Asthe first distal articulation driver 820 moves the in the distaldirection, the pinion gears 880, 882 serve to drive the second distalarticulation driver 860 in the proximal direction PD. Such movement ofthe first and second distal articulation drivers 820, 860 causes thesurgical end effector 300 and more specifically, the elongate channel302 of the surgical end effector 300 to pivot about the articulationaxis B-B in the articulation direction of arrow 823.

The dual solid link articulation arrangement 800 and its variations mayafford the surgical end effector with a greater range of articulationwhen compared to other articulatable surgical end effectorconfigurations. In particular, the solid link articulation arrangementsdisclosed herein may facilitate ranges of articulation that exceedranges of 45-50° that are commonly achieved by other articulatable endeffector arrangements. Use of at least one pinion gear to interfacebetween the distal articulation drivers enable the end effector to be“pushed” and “pulled” into position also may reduce the amount of endeffector “slop” or undesirable or unintended movement during use. Thedual solid link articulation arrangements disclosed herein also comprisean articulation system that has improved strength characteristics whencompared to other articulation system arrangements.

As was briefly discussed above, the intermediate firing shaft portion222 is configured to operably interface with a distal cutting or firingbeam 280. The distal firing beam 280 may comprise a laminated structure.Such arrangement enables the distal firing beam 280 to sufficiently flexwhen the surgical end effector 300 is articulated about the articulationaxis B-B. The distal firing beam 280 is supported for axial movementwithin the shaft assembly 200′ and is slidably supported by twoupstanding lateral support walls 330 formed on the proximal end of theelongate channel 302. Referring to FIG. 11 , the distal firing beam 280is attached to a firing member 900 that includes a vertically-extendingfiring member body 902 that has a tissue cutting surface or blade 904thereon. In addition, a wedge sled 910 may be mounted within thesurgical staple cartridge 304 for driving contact with the firing member900. As the firing member 900 is driven distally through the cartridgebody 304, the wedge surfaces 912 on the wedge sled 910 contact thestaple drivers to actuate the drivers and the surgical staples supportedthereon upwardly in the surgical staple cartridge 304.

End effectors that employ firing beams or firing members and which arecapable of articulating over a range of, for example, forty five degrees(45°) may have numerous challenges to overcome. To facilitate operablearticulation of such end effectors, the firing member or firing beammust be sufficiently flexible to accommodate such range of articulation.However, the firing beam or firing member must also avoid buckling whileencountering the compressive firing loads. To provide additional supportto the firing beam or firing member various “support” or “blowout” platearrangements have been developed. Several of such arrangements aredisclosed in U.S. Pat. No. 6,964,363, entitled SURGICAL STAPLINGINSTRUMENT HAVING ARTICULATION JOINT SUPPORT PLATES FOR SUPPORTING AFIRING BAR and U.S. Pat. No. 7,213,736, entitled SURGICAL STAPLINGINSTRUMENT INCORPORATING AN ELECTROACTIVE POLYMER ACTUATED FIRING BARTRACK THROUGH AN ARTICULATION JOINT, the entire disclosures of eachbeing hereby incorporated by reference herein. Blowout plates thatprovide substantial buckle resistance also are difficult to bend ingeneral which adds to the forces the articulation joint system mustaccommodate. Other firing beam support arrangements are disclosed inU.S. patent application Ser. No. 14/575,117, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAMSUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309, the entire disclosureof which is hereby incorporated by reference herein.

Referring to FIGS. 11-15 , the elongate shaft assembly 200′ furthercomprises a multiple support link assembly 920 for providing lateralsupport to the distal firing beam 280 as the surgical end effector 300is articulated about the articulation axis B-B. As can be seen in FIG.11 , the multiple support link assembly 920 comprises a middle supportmember 922 that is movably coupled to the surgical end effector 300 aswell as the elongate shaft assembly 200′. For example, the middlesupport member 922 is pivotally pinned to the proximal end 320 of theelongate channel 302 such that it is pivotable relative thereto about apivot axis PA. As can be seen in FIG. 11 , the middle support member 922includes a distally protruding tab 923 that has a distal pivot hole 924therein for receiving an upstanding support pin 332 that is formed onthe proximal end portion 320 of the elongate channel 302. As can befurther seen in FIG. 11 , the middle support member 922 further includesa proximally protruding tab 926 that has an elongate proximal slot 928therein. The proximal slot 928 is configured to slidably receive amiddle support pin 816 that is formed on the frame portion 812. Sucharrangement enables the middle support member 922 to pivot and moveaxially relative to said elongate shaft assembly 200′, for example. Ascan be seen in FIGS. 11-13 , the middle support member 922 furtherincludes centrally disposed slot 930 for movably receiving the distalfiring beam 280 therethrough.

Still referring to FIGS. 11-15 , the multiple support link assembly 920further comprises a proximal support link 940 and a distal support link950. The proximal support link 940 includes an elongate proximal body942 that has a rounded proximal nose portion 943 and a rounded distalnose portion 944. The proximal support link 940 further includes a pairof downwardly protruding, opposed proximal support walls 945, 946 thatdefine a proximal slot 947 therebetween. Similarly, the distal supportlink 950 includes an elongate distal body 952 that has a roundedproximal nose portion 953 and a rounded distal nose portion 954. Thedistal support link 950 further includes a pair of downwardly protrudingopposed distal support walls 955, 956 that define a distal slot 957therebetween. As can be seen in FIG. 14 , the flexible distal firingbeam 280 is configured to extend between the proximal support walls 945,946 of the proximal support link 940 and the distal support walls 955,956 of the distal support link 950. The proximal support wall 945includes an inwardly facing proximal arcuate surface 948 and theproximal support wall 946 includes an inwardly facing proximal arcuatesupport surface 949 that opposes said inwardly facing proximal arcuatesurface 948. The proximal arcuate support surfaces 948, 949 serve toprovide lateral support to the lateral side portions of a proximalportion of the flexible distal firing beam 280 as it flexes duringarticulation of the end effector and traverses the articulation joint.The radiused surfaces may match the outer radius of the distal firingbeam 280 depending upon the direction of articulation. Similarly, thedistal support wall 955 includes an inwardly facing distal arcuatesurface 958 and the distal support wall 956 includes an inwardly facingdistal arcuate support surface 959 that opposes said distal arcuatesurface 958. The distal arcuate support surfaces 958, 959 serve toprovide lateral support to the lateral side portions of a distal portionof the distal firing beam 280 as it flexes during articulation of thesurgical end effector 300 and traverses the articulation joint. Thedistal arcuate surfaces 958, 959 may match the outer radius of thedistal firing beam 280 depending upon the direction of articulation. Ascan be seen in FIGS. 12 and 13 , the distal end 217 of the shaft spine210 includes a distally-facing arcuate spine pocket 218 into which therounded proximal nose portion 943 of the proximal support link 940extends. The rounded distal nose portion 944 of the proximal supportlink 940 is pivotally received in an arcuate proximal pocket 932 in themiddle support member 922. In addition, the rounded proximal noseportion 953 of the distal support link is received in an arcuate distalsupport member pocket 934 in the distal end of the middle support member922. The rounded distal nose portion 954 of the distal support link 950is movably received within a V-shaped channel cavity 334 formed in theupstanding lateral support walls 330 formed on the proximal end 320 ofthe elongate channel 302.

The multiple support linkage assembly may provide higher lateral supportto the flexible firing beam laminates as the beam flexes across higherarticulation angles. Such arrangements also prevent the firing beam frombuckling under high firing loads and across relatively high articulationangles. The elongate support links, in connection with the middlesupport member, serve to provide improved lateral support to the firingbeam across the articulation zone when compared to many prior supportarrangements. In alternative arrangements, the support links may beconfigured to actually interlock with the middle support member atvarious articulation angles. The U-shaped support links facilitate easyinstallation and serve to provide support to the flexible support beamson each lateral side as well as to the top of the firing beam to preventthe firing beam from bowing upwards during firing while beingarticulated.

In those embodiments wherein the firing member includes a tissue cuttingsurface, it may be desirable for the elongate shaft assembly to beconfigured in such a way so as to prevent the inadvertent advancement ofthe firing member unless an unspent staple cartridge is properlysupported in the elongate channel 302 of the surgical end effector 300.If, for example, no staple cartridge is present at all and the firingmember is distally advanced through the end effector, the tissue wouldbe severed, but not stapled. Similarly, if a spent staple cartridge(i.e., a staple cartridge wherein at least some of the staples havealready been fired therefrom) is present in the end effector and thefiring member is advanced, the tissue would be severed, but may not becompletely stapled, if at all. It will be appreciated that suchoccurrences could lead to undesirable catastrophic results during thesurgical procedure. U.S. Pat. No. 6,988,649 entitled SURGICAL STAPLINGINSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT, U.S. Pat. No. 7,044,352entitled SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISMFOR PREVENTION OF FIRING, and U.S. Pat. No. 7,380,695 entitled SURGICALSTAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OFFIRING each disclose various firing member lockout arrangements, each ofwhich is hereby incorporated by reference in its entirety herein.

Such lockout arrangements may be effectively employed with a variety ofsurgical stapling instruments. Those arrangements, however, may not beparticularly well-suited for use in connection with various surgicalstapling instruments disclosed herein that employ relatively compact andshort articulation joint configurations. For example, FIGS. 15-19illustrate a surgical end effector 300 that is operably attached to anelongate shaft assembly 200′ by an articulation joint 270′. The elongateshaft assembly 200′ defines a shaft axis SA-SA and the articulationjoint 270′ facilitates selective articulation of the surgical endeffector 300 relative to the elongate shaft assembly 200′ about anarticulation axis B-B that is transverse to the shaft axis SA-SA. In theillustrated embodiment, a dual solid link articulation arrangement 800(as was described above) may be employed to selectively applyarticulation motions to the surgical end effector 300. The elongateshaft assembly 200′ comprises a distal firing beam 280 of the typedescribed above that is selectively axially movable within the surgicalend effector 300 from a starting position to an ending position uponapplication of firing motions thereto. The distal firing beam 280extends through the articulation joint 270′ and is configured to flexabout the articulation axis B-B to accommodate articulation of thesurgical end effector 300 in the various manners described herein. Inthe illustrated embodiment, the articulation joint 270′ includes amiddle support member 922 that is movably attached to the distal end 814of the shaft frame 812 and the proximal end 320 of the elongate channel302. As was discussed above, the middle support member 922 includes adistally protruding tab 923 that has a distal pivot hole 924 therein forreceiving an upstanding support pin 332 formed on the proximal endportion 320 of the elongate channel 302. The middle support member 922further includes a proximally protruding tab 926 that has an elongateproximal slot 928 therein. The proximal slot 928 is configured toslidably receive a middle support pin 816 formed on the frame portion812. The middle support 922 further includes a centrally disposed slot930 for axially receiving the distal firing beam 280 therethrough. Themiddle support member 922 provides lateral support to the distal firingbeam 280 during articulation of the surgical end effector 300 about thearticulation axis B-B while facilitating its axial passage of the distalfiring beam 280 therethrough during firing.

In the illustrated embodiment, a firing beam locking assembly 980 isemployed to prevent the distal firing beam 280 from being inadvertentlyadvanced from the starting position to the ending position unless anunfired surgical staple cartridge 304 has been operably seated in thecartridge support member or elongate channel 302. As can be seen inFIGS. 15-19 , the firing beam locking assembly 980 in one form includesa locking cam or detent 281 that is formed in the distal firing beam 280such that it protrudes upwardly from the upper surface thereof. Abiasing member 984 is supported on and attached to the middle supportmember 922. As can be seen in FIG. 16 , for example, the biasing member984 is substantially planar and includes a window 985 that is configuredto accommodate the locking cam 281 therein during articulation of thesurgical end effector 300. Thus, as the surgical end effector 300 isarticulated about the articulation axis B-B, the biasing member 984 doesnot apply any biasing force or load to the distal firing beam 280. Thisfeature may avoid adding to the amount of articulation forces that mustbe generated to articulate the surgical end effector 300 about thearticulation axis B-B. The biasing member 984 may be tack welded to themiddle support member 922 or be attached thereto by other fastenermethods such as by screws, pins, adhesive, etc. The window 985 may alsodefine a locking band or portion 986 that serves to contact the lockingcam 281 when the distal firing beam 280 is in the starting position. Thelocking cam 281 may be formed with a distal-facing sloping surface 283and a proximally-facing sloping surface 285 to reduce the amount offiring force and retraction force required to axially move the distalfiring beam 280. See FIG. 19 .

As was described above, the distal firing beam 280 is operably attachedto a firing member 900 that includes a tissue cutting surface 904 on thefiring member body 902. In alternative arrangements, the tissue cuttingsurface may be attached to or otherwise formed on or directly supportedby a portion of the distal firing beam 280. In the illustratedarrangement, a laterally extending foot 905 is formed on the bottom ofthe firing member body 902. The firing member body 902 further includesa wedge sled engagement member 906 that is configured to engage a wedgesled in the surgical staple cartridge 304 as will be discussed infurther detail below.

FIG. 18 illustrates an “unspent” or “unfired” surgical staple cartridge304 that has been properly installed in the elongate channel 302. As canbe seen in that Figure, the wedge sled 910 is located in an “unfired”(proximal-most) position in the surgical staple cartridge 304. The wedgesled 910 includes a proximally-facing sloping surface 914 that isconfigured to engage the wedge sled engagement member 906 on the firingmember 900 to thereby bias the firing member 900 in an upward directionrepresented by arrow 988 such that the bottom portion and foot 905 ofthe firing member 900 are free to clear a lock wall 307 formed by a lockopening 303 in the bottom of the elongate channel 302. When in thatposition, the distal firing beam 280 and the firing member 900 may bedistally advanced within the elongate channel 302 and, more precisely,the surgical staple cartridge 304 mounted therein from the startingposition illustrated in FIG. 18 to the ending position with the surgicalstaple cartridge 304 wherein the wedge sled 910 has ejected all of thesurgical staples that were operably supported in the surgical staplecartridge 304. In such arrangements, after the firing member 900 hasbeen completely fired (i.e., completely advanced from its startingposition to is ending position within the surgical staple cartridge304), the firing member 900 is retracted back to the starting positionshown in FIG. 19 . Because the wedge sled 910 has been distally advancedto the ending position in the staple cartridge 304 by the firing member900 and the firing member 900 is not attached to the wedge sled 910,when the firing member 900 is retracted back to the starting position,the wedge sled 910 remains in the ending position within the surgicalstaple cartridge 304 and does not return with the firing member 900 backto the starting position. Thus, the surgical staple cartridge 304 issaid to be in a “used”, “spent” or “fired” condition. As can be seen inFIG. 19 , when no wedge sled is present in an unfired state, the bottomof the body portion 902 as well as the foot 905 of the firing member 900extends into the lock opening 303 in the bottom of the elongate channel302 due to the biasing motion applied by the locking band 986 of thebiasing member 984 to locking cam 281 on the distal firing beam 280.When in that position, if the clinician were to unwittingly attempt torefire the spent surgical staple cartridge, the body portion 902 and/orthe foot 905 would contact the wall 307 in the elongate channel 302 andwould be prevented from moving from the starting position to the endingposition. Thus, the firing beam locking assembly 980 prevents theadvancement of the distal firing beam 280 as well as the firing member900 from the starting position to the ending position unless an unfiredor unspent surgical staple cartridge has been properly/operablyinstalled in the elongate channel of the surgical end effector. It willalso be appreciated that the firing beam locking assembly 980 alsoprevents advancement of the distal firing beam 280 when no staplecartridge at all has been installed in the elongate channel 302. Inaddition to accommodating articulation of the surgical end effector 300about the articulation axis B-B without applying additional load to thedistal firing beam which could result in the need for increasedarticulation forces to articulate the surgical end effector, the firingbeam locking assembly 980 applies no additional load on the firingmember and/or the distal firing beam once it has been distally advancedpast the lockout wall whether or not the end effector jaws are open orclosed.

FIG. 20A illustrates another articulatable surgical end effectorembodiment 300′ that employs a firing beam locking assembly 980′ thatcomprises a biasing member 984′ that is mounted within the end effectorclosure sleeve 272. As can be seen in that Figure, for example, thebiasing member 984′ applies a biasing force to a sloped or taperedportion 283′ of the distal firing beam 280′. The firing beam lockingassembly 980′ otherwise operates in the same manner as described abovewith respect to the firing beam locking assembly 980. More specifically,the biasing member 984′ applies a biasing force to the distal firingbeam 280′ that forces the distal firing beam 280′ and the firing memberattached thereto downward within the elongate channel. Unless an unspentsurgical staple cartridge with a wedge sled or other staple ejectormember in an unfired position has been properly installed within theelongate channel or cartridge support member so as to operably engagewith the firing member or firing beam to move the firing member/firingbeam out of engagement with the lock wall, the firing member/firing beamwould be prevented from being axially advanced from the starting toending position.

FIGS. 21-25 illustrate a portion of another elongate shaft assembly 1200that is similar to the elongate shaft assembly 200 described above,except for various differences discussed in further detail below. Thosecomponents of the elongate shaft assembly 1200 that have been discussedin detail above are referenced with like element numbers and, for thesake of brevity, will not be further discussed in great detail beyondthat which may be necessary to understand the operation of shaftassembly 1200 when, for example, employed with portions of the surgicalinstrument 10 as described above. As can be seen in FIG. 21 , theelongate shaft assembly 1200 includes an articulation lock 1810 that issubstantially similar to articulation lock 810 and operates inessentially the same manner. As can be seen in FIG. 22 , the elongateshaft assembly 1200 includes a shaft frame 1812 that has a proximalcavity 1815 that is configured to movably support a proximal portion1821 of a first distal articulation driver 1820 therein. The firstdistal articulation driver 1820 is movably supported within the elongateshaft assembly 1200 for selective longitudinal travel in a distaldirection DD and a proximal direction PD in response to articulationcontrol motions applied thereto. The shaft frame 1812 further includes adistal end portion 1814 that has a pivot pin 1818 formed thereon. Thepivot pin 1818 is adapted to be pivotally received within a pivot hole(not shown) in a proximal end portion 1320 of an elongate channel 1302of a surgical end effector 1300. Such arrangement facilitates pivotaltravel (i.e., articulation) of the elongate channel 1302 of the surgicalend effector 1300 elative to the shaft frame 1812 about an articulationaxis B-B defined by the pivot hole and the pin 1818. The shaft frame1812 further includes a centrally disposed cavity 1817 and a distalnotch 1819 that is located between the distal end 1814 and the centrallydisposed cavity 1817.

The shaft assembly 1200 further includes a second distal articulationdriver 1860 that comprises an endless member 1862 that is rotatablyjournaled on a proximal pulley 1840 and a distal pulley 1340. Stillreferring to FIG. 22 , the proximal pulley 1840 is rotatably journaledon a pulley spindle 1842 that is mounted within the centrally disposedcavity 1817 within the shaft frame 1812. The distal pulley 1340 isnon-rotatably supported or formed on the proximal end 1320 of theelongate channel 1302 of the surgical end effector 1300. In one form,the endless member 1862 comprises a cable that is fabricated fromstainless steel, tungsten, aluminum, or titanium, etc., for example. Thecable may be of braided or multi-stranded construction with variousnumbers of strands to attain desired levels of tensile strength andflexibility. In various arrangements, for example, the cable 2382 mayhave a diameter in the range of 0.03 inches to 0.08 inches and morepreferably in the range of 0.05-0.08 inches. A preferred cable may, forexample, be fabricated from 300 series stainless steel—half hard to fullhard. In various arrangements, the cable may also be coated with, forexample, Teflon®, copper, etc. for improved lubricity and/or to reducestretching, for example. A first lug 1863 is attached to one end of thecable and a second lug 1864 is attached to the other end of the cableby, for example, crimping. The cable is stretched in tension while theends and/or the lugs 1863, 1864 are welded, glued, mechanicallyfastened, etc. together to form the endless member 1862. The spindle1842 may comprise a cam mount that engages the proximal pulley 1840 soas to move the pulley 1840 proximally. Other forms of tensioningarrangements such as belt tensioners, turnbuckle arrangements, etc. mayalso be employed to tension the endless member 1862.

Still referring to FIG. 22 , the endless member 1862 is coupled to adistal end 1821 of the first distal articulation driver 1820 by acoupler assembly 1830. The coupler assembly 1830 comprises an uppercoupler portion 1832 formed on the distal end 1822 of the first distalarticulation driver 1820 and a lower coupler portion 1834. The lowercoupler portion 1834 is formed with two cradles 1835 that are configuredto receive the lugs 1862, 1864 therein. A pair of attachment pins 1836is configured to be pressed into holes 1837 in the upper coupler portion1832 to affix the two coupler portions 1832 and 1834 together. Otherfastener arrangements, screws, rivets, adhesive, etc. may be employed.When the endless member 1862 is journaled on the pulleys 1840 and 1340,the coupler assembly 1830 is free to move axially within the distalnotch 1819 in the shaft frame 1812 in response to the axial movement ofthe first distal articulation driver 1820. The articulation motionsgenerated by the axial movement of the first distal articulation driver1820 are transferred to the second distal articulation driver 1860 orthe endless member 1862. An attachment ball or lug 1866 is attached tothe endless member 1862 and is received in a groove or pocket 1342formed in the distal pulley 1340. Thus, movement of the endless member1862 is transferred to the surgical end effector 1300 and morespecifically to the elongate channel 1302 of the surgical end effector1300 to articulate the end effector about articulation axis B-B. Thus,when the first distal articulation driver 1820 is moved in the distaldirection DD, the endless member 1862 causes the surgical end effector1300 to articulate about the articulation axis B-B in the articulationdirection represented by arrow 823. See FIG. 21 . Likewise, when thefirst distal articulation driver 1820 is moved in the proximal directionPD, the endless member 1862 causes the surgical end effector 1300 toarticulate about the articulation axis B-B in the articulation directionrepresented by arrow 821. See FIGS. 21 and 25 . As shown in FIG. 21 ,articulation direction 823 is opposite to articulation direction 821.

FIGS. 26-31 illustrate portions of another elongate shaft assembly 2200that is similar to the elongate shaft assembly 200 described above,except for various differences discussed in further detail below. Thosecomponents of the elongate shaft assembly 2200 that have been discussedin detail above are referenced with like element numbers and, for thesake of brevity, will not be further discussed in great detail beyondthat which may be necessary to understand the operation of the elongateshaft assembly 2200 when, for example, employed with portions of thesurgical instrument 10 as described above. As can be seen in FIG. 26 ,the elongate shaft assembly 2200 includes a proximal housing or nozzle201 comprised of nozzle portions 202 and 203. The elongate shaftassembly 2200 further includes an anvil actuator member in the form of aclosure sleeve 2260 which can be utilized to close and/or open the anvil2310 of the surgical end effector 2300 that is operably attachedthereto. As can be seen in FIG. 26 , the elongate shaft assembly 2200includes a proximal spine 2210 which is configured to operably interfacewith an articulation lock 2350. The proximal spine 2210 is configuredto, one, slidably support a firing member 2220 therein and, two,slidably support the closure sleeve 2260 which extends around theproximal spine 2210. The proximal spine 2210 also slidably supports aproximal articulation driver 2230. The proximal articulation driver 2230has a distal end 2231 that is configured to operably engage thearticulation lock 2350.

In the illustrated arrangement, the proximal spine 2210 comprises aproximal end 2211 which is rotatably supported in a chassis 240. In onearrangement, for example, the proximal end 2211 of the proximal spine2210 has a thread 2214 formed thereon for threaded attachment to a spinebearing configured to be supported within the chassis 240. Such anarrangement facilitates rotatable attachment of the proximal spine 2210to the chassis 240 such that the proximal spine 2210 may be selectivelyrotated about a shaft axis SA-SA relative to the chassis 240. Theproximal end of the closure sleeve 2260 is attached to a closure shuttlesupported in the chassis as was described in detail above. When theelongate shaft assembly 2200 is operably coupled to the handle orhousing of the surgical instrument 10, operation of the closure triggerdistally advances the closure sleeve 2260.

As was also indicated above, the elongate shaft assembly 2200 furtherincludes a firing member 2220 that is supported for axial travel withinthe proximal spine 2210. The firing member 2220 includes an intermediatefiring shaft portion 2222 that is configured for attachment to a distalcutting or firing beam assembly 2280. See FIG. 27 . The intermediatefiring shaft portion 2222 may include a longitudinal slot 2223 in thedistal end thereof which can be configured to receive a tab on theproximal end of the distal firing beam assembly 2280. The longitudinalslot 2223 and the proximal end of the distal firing beam assembly 2280can be sized and configured to permit relative movement therebetween andcan comprise a slip joint. The slip joint can permit the intermediatefiring shaft portion 2222 of the firing drive 2220 to be moved toarticulate the end effector 300 without moving, or at leastsubstantially moving, the distal firing beam assembly 2280. Once thesurgical end effector 2300 has been suitably oriented, the intermediatefiring shaft portion 2222 can be advanced distally until a proximalsidewall of the longitudinal slot 2223 comes into contact with the tabin order to advance the distal firing beam assembly 2280 and fire astaple cartridge that may be supported in the end effector 300. Theproximal spine 2210 is also coupled to a distal spine 2212.

Similar to the elongate shaft assembly 200, the illustrated elongateshaft assembly 2200 includes a clutch assembly 2400 which can beconfigured to selectively and releasably couple the proximalarticulation driver 2230 to the firing member 2220. In one form, theclutch assembly 2400 includes a lock collar, or sleeve 2402, positionedaround the firing member 2220 wherein the lock sleeve 2402 can berotated between an engaged position in which the lock sleeve 2402couples the proximal articulation driver 2230 to the firing member 2220and a disengaged position in which the proximal articulation driver 2230is not operably coupled to the firing member 2220. When the lock sleeve2402 is in its engaged position, distal movement of the firing member2220 can move the proximal articulation driver 2230 distally and,correspondingly, proximal movement of the firing member 2220 can movethe proximal articulation driver 2230 proximally. When lock sleeve 2402is in its disengaged position, movement of the firing member 2220 is nottransmitted to the proximal articulation driver 2230 and, as a result,the firing member 2220 can move independently of the proximalarticulation driver 2230. In various circumstances, the proximalarticulation driver 2230 can be held in position by the articulationlock 2350 when the proximal articulation driver 2230 is not being movedin the proximal or distal directions by the firing member 2220.

As discussed above, the lock sleeve 2402 can comprise a cylindrical, orat least a substantially cylindrical body including a longitudinalaperture 2403 defined therein configured to receive the firing member2220. The lock sleeve 2402 can comprise diametrically-opposed,inwardly-facing lock protrusions 2404 and an outwardly-facing lockmember 2406. The lock protrusions 2404 can be configured to beselectively engaged with the firing member 2220. More particularly, whenthe lock sleeve 2402 is in its engaged position, the lock protrusions2404 are positioned within a drive notch 2224 defined in the firingmember 2220 such that a distal pushing force and/or a proximal pullingforce can be transmitted from the firing member 2220 to the lock sleeve2402. When the lock sleeve 2402 is in its engaged position, the secondlock member 2406 is received within a drive notch 2232 defined in thearticulation driver 2230 such that the distal pushing force and/or theproximal pulling force applied to the lock sleeve 2402 can betransmitted to the proximal articulation driver 2230. In effect, thefiring member 2220, the lock sleeve 2402, and the proximal articulationdriver 2230 will move together when the lock sleeve 2402 is in itsengaged position. On the other hand, when the lock sleeve 2402 is in itsdisengaged position, the lock protrusions 2404 may not be positionedwithin the drive notch 2224 of the firing member 2220 and, as a result,a distal pushing force and/or a proximal pulling force may not betransmitted from the firing member 2220 to the lock sleeve 2402.Correspondingly, the distal pushing force and/or the proximal pullingforce may not be transmitted to the proximal articulation driver 2230.In such circumstances, the firing member 2220 can be slid proximallyand/or distally relative to the lock sleeve 2402 and the proximalarticulation driver 2230.

As was also discussed above, the elongate shaft assembly 2200 furtherincludes a switch drum 2500 that is rotatably received on the closuresleeve 2260. The switch drum 2500 comprises a hollow shaft segment 2502that has a shaft boss 2504 formed thereon for receive an outwardlyprotruding actuation pin 2410 therein. In various circumstances, theactuation pin 2410 extends through a slot into a longitudinal slotprovided in the lock sleeve 2402 to facilitate axial movement of thelock sleeve 2402 when it is engaged with the articulation driver 2230. Arotary torsion spring 2420 is configured to engage the boss 2504 on theswitch drum 2500 and a portion of the nozzle housing 203 to apply abiasing force to the switch drum 2500. The switch drum 2500 can furthercomprise at least partially circumferential openings 2506 definedtherein which can be configured to receive circumferential mountsextending from the nozzle halves 202, 203 and permit relative rotation,but not translation, between the switch drum 2500 and the proximalnozzle 201. As described above, rotation of the switch drum 2500 willultimately result in the rotation of an actuation pin 2410 and the locksleeve 2402 between its engaged and disengaged positions. Thus, inessence, the nozzle 201 may be employed to operably engage and disengagethe articulation drive system with the firing drive system in thevarious manners described above as well as in U.S. patent applicationSer. No. 13/803,086, now U.S. Patent Application Publication No.2014/0263541.

Referring to FIG. 27 , the closure sleeve assembly 2260 includes adouble pivot closure sleeve assembly 2271. According to various forms,the double pivot closure sleeve assembly 2271 includes an end effectorclosure sleeve 2272 having upper and lower distally projecting tangs. Anupper double pivot link 2277 includes upwardly projecting distal andproximal pivot pins that engage respectively an upper distal pin hole inthe upper proximally projecting tang and an upper proximal pin hole inan upper distally projecting tang on the closure sleeve 2260. A lowerdouble pivot link 2278 includes upwardly projecting distal and proximalpivot pins that engage respectively a lower distal pin hole in the lowerproximally projecting tang and a lower proximal pin hole in the lowerdistally projecting tang.

The elongate shaft assembly 2200 also includes a surgical end effector2300 that is similar to the surgical end effector 300 that was describedabove. As can be seen in FIG. 27 , the surgical end effector 2300includes an elongate channel 2302 that is configured to operably supporta surgical staple cartridge 2304 therein. The elongate channel 2302 hasa proximal end portion 2320 that includes two upstanding lateral walls2322. The surgical end effector 2300 further includes an anvil 2310 thathas an anvil body 2312 that has a staple-forming undersurface 2313formed thereon. The proximal end 2314 of the anvil body 2312 isbifurcated by a firing member slot 2315 to form two anvil attachmentarms 2316. Each anvil attachment arm 2316 includes a laterallyprotruding anvil trunnion 2317. A trunnion slot 2324 is provided in eachlateral wall 2322 of the elongate channel 2302 for receiving acorresponding one of the anvil trunnions 2317 therein. Such arrangementserves to movably affix the anvil 2310 to the elongate channel 2302 forselective pivotable travel between open and closed or clamped positions.The anvil 2310 is moved to a closed position by distally advancing theclosure sleeve 2260 and more particularly, the end effector closuresleeve 2272 up the tapered attachment arms 2316 which causes the anvil2310 to move distally while pivoting to the closed position. Ahorseshoe-shaped opening 2273 is provided in the end effector closuresleeve 2272 that is configured to engage an upstanding tab 2318 on theanvil 2310 of the end effector 2300. To open the anvil 2310, the closuresleeve 2260 and, more particularly, the end effector closure sleeve 2272is moved in the proximal direction. In doing so, a central tab portiondefined by the horseshoe shaped opening 2273 cooperates with the tab2318 on the anvil 2310 to pivot the anvil 2310 back to an open position.

Turning to FIGS. 26, 28 and 29 , as mentioned above, the elongate shaftassembly 2200 includes an articulation lock 2350 that is substantiallysimilar to articulation locks 350 and 810 that were described above.Those components of articulation lock 2350 that differ from thecomponents of articulation lock 350 and are necessary to understand theoperation of articulation lock 350 will be discussed in further detailbelow. As discussed above, the articulation lock 2350 can be configuredand operated to selectively lock the end effector 2300 in position. Sucharrangement enables the surgical end effector 2300 to be rotated, orarticulated, relative to the shaft closure sleeve 2260 when thearticulation lock 2350 is in its unlocked state. When the proximalarticulation driver 2230 is operatively engaged with the firing member2220 via the clutch system 2400, further to the above, the firing member2220 can move the proximal articulation driver 2230 proximally and/ordistally. Movement of the proximal articulation driver 2230, whether itis proximal or distal, can unlock the articulation lock 2350 as wasdescribed above. This embodiment includes a proximal lock adapter member2360 that is movably supported between the proximal spine 2210 and thedistal spine 2212. The proximal lock adapter 2360 includes a lock cavity2362 for receiving therein first lock elements 2364 and second lockelements 2366 that are journaled on a frame rail 2368 that extendsbetween the proximal frame 2210 and the distal frame 2212. Thearticulation lock 2350 operates in the various manners described aboveand, for the sake of brevity, will not be further discussed herein.

As can be seen in FIGS. 26, 28 and 29 , a first distal articulationdriver 2370 is attached to the proximal lock adapter 2360. The firstdistal articulation driver 2370 is operably attached to a second distalarticulation driver 2380 that operably interfaces with the elongatechannel 2302 of the end effector 2300. The second distal articulationdriver 2380 comprises a cable 2382 that is rotatably journaled on aproximal pulley 2383 and a distal pulley 2392. The distal pulley 2392 isnon-rotatably supported or integrally formed on an end effector mountingassembly 2390 and includes a detent or pocket 2396. In the illustratedexample, the end effector mounting assembly 2390 is non-movably attachedto the proximal end 2320 of the elongate channel 2302 by a spring pin2393 that extends through a hole in the end effector mounting assembly2390 and holes 2394 in the proximal end 2320 of the elongate channel2302. The proximal pulley 2383 is rotatably supported on the distalspine 2212. The distal end of the distal spine 2212 has a pivot pin 2213formed thereon that is configured to be rotatably received within apivot hole 2395 formed in the end effector mounting member 2390. Sucharrangement facilitates pivotal travel (i.e., articulation) of theelongate channel 2302 relative to the distal spine 2212 about anarticulation axis B-B defined by the pivot hole 2395 and the pin 2213.

In one form, the cable 2382 may be fabricated from stainless steel,tungsten, aluminum, titanium, etc., for example. The cable may be ofbraided or multi-stranded construction with various numbers of strandsto attain desired levels of tensile strength and flexibility. In variousarrangements, for example, the cable 2382 may have a diameter in therange of 0.03 inches to 0.08 inches and more preferably in the range of0.05-0.08 inches. A preferred cable may, for example, be fabricated from300 series stainless steel—half hard to full hard. In variousarrangements, the cable may also be coated with, for example, Teflon®,copper, etc. for improved lubricity and/or to reduce stretching, forexample. In the illustrated example, the cable 2382 has a lug 2384attached to one end thereof and a lug 2385 attached to the other endthereof by, for example, crimping. The first distal articulation driver2370 includes a pair of spaced cleats 2372, 2374 that are spaced fromeach other sufficiently so as to accommodate the lugs 2384, 2385therebetween. For example, the proximal cleat 2372 includes a proximalslot 2373 for receiving a portion of the cable 2382 adjacent the lug2384 and the distal cleat 2374 includes a distal slot 2375 for receivinga corresponding portion of the cable 2382 adjacent the lug 2385. Theslots 2373 and 2375 are sized relative to the lugs 2384, 2385,respectively so as to prevent the lugs 2384, 2385 from pullingtherethrough. The proximal slot 2375 is oriented at an angle as comparedto the distal slot 2375 so as to cinchingly grip the correspondingportion of the cable 2382 therein. See FIG. 30 . An attachment ball orlug 2398 is attached to the endless member 2382 and is received in thedetent or pocket 2396 formed in the distal pulley 2392. See FIG. 31 .Thus, when the first distal articulation driver 2370 is axiallyretracted in the proximal direction PD, in the manners described above,the endless member 2382 will articulate the end effector 2300 in thedirection represented by arrow 2376 in FIG. 31 . Conversely, when thefirst distal articulation driver 2370 is axially advanced in the distaldirection DD, the surgical end effector 2300 is articulated in thedirection represented by arrow 2399 in FIG. 31 . In addition, theproximal and distal cleats 2372, 2374 are spaced sufficiently so as toaccommodate the lugs 2384, 2385 therebetween. A tensioning wedge 2378 isused as shown in FIGS. 29-32 to apply sufficient tension to the cable2382 such that when the cable is actuated, it will apply an articulationmotion to the end effector 2300. In the alternative arrangement depictedin FIG. 35 , the proximal cleat 2374′ is initially not attached to thefirst articulation driver 2370. The proximal cleat 2374′ is positionedon the first distal articulation driver 2370 so as to capture the lugs2384 and 2385 between the distal cleat 2372 and the proximal cleat2374′. The proximal cleat 2374′ is moved toward the distal cleat 2372until a sufficient amount of tension is generated in the cable 2382 andthen the proximal cleat 2374′ is attached to the first distalarticulation driver 2370. For example, the proximal cleat 2374′ may beattached to the first distal articulation driver 2370 by laser weldingor other suitable form of attachment means or fastener arrangement.

Referring FIGS. 36-39 , the surgical instrument includes for example, acentral firing beam support member 2286 that is configured to extendacross an articulation joint to provide support to a flexible firingbeam assembly 2280. In one form, the central firing beam support member2286 comprises a flexible plate member or band and includes a downwardlyprotruding distal attachment tab 2287 that is attached to the surgicalend effector and an upwardly extending proximal end portion 2288 that isattached to the elongate shaft assembly. In at least one arrangement,the distal attachment tab 2287 is attached to the end effector mountingassembly 2390 by the spring pin 2393 and the proximal end portion 2288is pinned to the distal spine 2212 by pins (not shown). The centralfiring beam support member 2286 is located along the centerline or shaftaxis of the device and serves to provide support to the firing beamduring articulation. This is different from those arrangements thatemploy “blow-out” plates or lateral support plates that are located onthe lateral sides of the firing beam and which are thereby offset fromthe shaft axis increasing the tension and compression forces that theyexperience during articulation. In the illustrated example, thelongitudinally movable flexible firing beam assembly 2280 comprises alaminated beam structure that includes at least two beam layers whereinat least one beam layer is configured to pass adjacent one lateral sideof the central firing beam support member and at least one other beammember is configured to pass adjacent another lateral side of thecentral firing beam support member. In the illustrated example, twolaminated layers 2282 and 2284 are configured to pass adjacent each sideof the flexible tension carrying member. See, for example, FIGS. 35 and36 . In various embodiments, the laminated layers 2282 and 2284 maycomprise, for example, stainless steel bands that are interconnected by,for example, welding or pinning together at their proximal ends, whiletheir respective distal ends are not connected together to allow thelaminates or bands to splay relative to each other when the end effectoris articulated. Each pair of laminated layers or bands 2282, 2284 isrepresented as a lateral firing band assembly 2285 of the firing beamassembly 2280. Thus, as shown in FIG. 36 , one lateral firing bandassembly 2285 is supported on each lateral side of the centralarticulation bar 2286 for axial travel relative thereto by a series oflateral load carrying members 2290. Each lateral load carrying member2290 may be fabricated from, for example, stainless steel, aluminum,titanium, liquid crystal polymer material, plastic material, Nylon,Acrylonitrile butadiene styrene (ABS), polyethylene, etc. and be formedwith opposed arcuate ends 2292. Each lateral load carrying member 2290also has an axial passage 2294 extending therethrough to receive theassembly of the lateral firing band assemblies 2285 and the centralarticulation bar 2286. As can be most particularly seen in FIG. 38 ,each axial passage is defined by two opposed arcuate surfaces 2295 thatfacilitate movement of lateral load carrying members 290 on thelongitudinally movable flexible firing beam assembly 2280. The lateralload carrying members 2290 are serially arranged on the lateral firingband assemblies 2285 and the central articulation bar 2286 such that theopposed arcuate ends 2292 abut corresponding arcuate ends 2292 ofadjacent lateral load carrying members 2290. See, for example, FIGS. 36and 37 .

Referring again to FIG. 37 , it can be seen that the proximal endportion 2288 of the central articulation bar 2286 extends downwardly forattachment to the distal spine 2212. The distal end 2287 of the firingbeam assembly 2280 is attached to a firing member 2900 of the type andconstruction describe above, for example. As can be seen in that Figure,the firing member 2900 includes a vertically-extending firing memberbody 2902 that has a tissue cutting surface or blade 2904 thereon. Inaddition, a wedge sled 2910 may be mounted within the surgical staplecartridge 2304 for driving contact with the firing member 2900. As thefiring member 2900 is driven distally through the cartridge body 2304,the wedge surfaces 2912 of the wedge sled 2910 contact the stapledrivers to actuate the drivers and the surgical staples supportedthereon upwardly in the cartridge 2304. The firing beam assembly 2280 isoperated in the various manners described above. As the firing beamassembly 2280 is distally advanced about the articulation joint, thelateral load carrying members 2290 may help to resist buckling loads onthe firing beam assembly 2280. The lateral load carrying members 2290may also reduce the amount of force required to articulate the endeffector and also accommodate greater articulation angles when comparedto other articulation joint arrangements. The fixed central firing beamsupport member 2286 serves to carry the tension loads that are generatedduring articulation and firing.

As described above, the firing beam assembly comprises a laminated beamstructure that includes at least two beam layers. As the firing beamassembly is advanced distally (during firing), the firing beam assemblyis essentially bifurcated by the central firing beam support member sothat portions of the firing beam assembly (i.e., laminate layers) passon both sides of the of the central firing beam support member.

FIGS. 40-43 illustrate a portion of another firing beam assembly 2280′that is attached to a firing member 2900. As can be seen in thoseFigures, the firing beam assembly 2280′ comprises a laminated structurethat includes two outer lateral beams or layers 2282′ that each have athickness that is designated as “a” and four central layers 2284′ thateach have a thickness designated as “b”. In at least one arrangement,for example, “a” may be approximately 0.005-0.008 inches and morepreferably 0.008 inches and “b” may be approximately 0.008-0.012 inchesand more preferably 0.010 inches. However, other thicknesses may beemployed. In the illustrated example, “a” is less than “b”. In otherarrangements, “a” is greater than “b”. In alternative arrangements, forexample, the laminates may be made up of three different thicknesses“a”, “b”, “c”, wherein “a”=0.006 inches, “b”=0.008 inches, and “c”=0.010inches (with the thickest laminate or band being in the center of theassembly). In various arrangements, there may be an odd number oflaminates or bands where “c” is the single thickest laminate in thecenter.

The laminate composition is relevant because of the amount of strainthat is applied to a beam assembly based on its thickness and itsdistance from the centerline of bending. Thicker laminates or bands thatare closer to the centerline may experience the same levels of strain asthe thinner ones that are farther away from the centerline because theyhave to be bent more in view of the fact that they are stacked together.The radius of curvature is more aggressive on the inside of the curvethe father away from the centerline. Thicker laminates or bands tend toexperience more internal stress than thinner laminates given the sameradius of curvature. Thus, thinner side laminates or bands that have thesmallest radius of curvature may have the same likelihood of plasticallydeforming as the thicker ones that are closure to the centerline. Statedanother way, when the end effector articulates in one direction, thelaminates or bands located away from the direction of articulation havethe largest bend radius and the laminates or bands closest to thedirection of articulation have the tightest bend radius. However, whenthe end effector is articulated in the opposite direction, the inverseis true. The laminates on the inside of the laminate stack experiencethe same deviation, but their bend radius will always fall within therange of the outer ones. Thus, to maintain flexibility, locating thinnerlaminates on the outside of the stack may be desired. However, tomaximize stiffness and buckling resistance, thicker materials on theinside add additional benefit. Alternately, if the end effector needsonly to articulate in a single direction, the laminates or bands locatedaway from the direction of articulation will experience the greatestbend radius and the laminates or bands located in the direction ofarticulation have the tightest bend radius. However, because the endeffector does not articulate in an opposite direction, the inverse is nolonger true and therefor, the laminate stack does not need to besymmetric. Thus, in such arrangement, it would be desirable to have thethinnest laminate or band be the one that will experience the tightestbend radius (the laminate or band on the side of the direction ofarticulation).

In still other arrangements, the laminates or bands may be fabricatedfrom different metals with different strengths and modulus. For example,the outer laminates or bands could have the same thickness as the innerlaminates or bands with the inner laminates or bands being fabricatedfrom 300 series stainless steel and the outer laminates or bands beingfabricated from titanium or nitinol.

As can also be seen in FIGS. 42 and 43 , the distal firing beam assembly2280′ may be effectively employed with the series of lateral loadcarrying members 2290 described above. It will be appreciated that thedistal firing beam assembly 2280′ may also be used in connection with acentral articulation bar 2286 in the manner described above so that someof the layers or lateral beams (or bands or laminates) thereof axiallyadvance along the sides of the central articulation bar. In someembodiments, the layers advancing on each side of the centralarticulation bar 2286 may have the same thickness, composition, shapeand configuration. In other arrangements the layer or layers passingalong one side of the central articulation bar may have a differentthickness and/or composition and/or shape than the thickness and/orcomposition and/or shape of the layer or layers passing along theopposite side of the central articulation bar, so as to achieve adesired range of travel and flexibility while maintaining a desiredamount of stiffness so as to avoid buckling during firing.

FIGS. 44-46 illustrate a portion of another elongate shaft assembly 3200that includes a surgical end effector 300 of the type and constructiondescribed above. Other forms of surgical end effectors may also beemployed. The elongate shaft assembly 3200 also includes alongitudinally movable flexible firing beam assembly 3280 that isattached to a firing member 900. In alternative arrangements, the distalend of the firing beam assembly 3280 may be configured to performvarious actions within the surgical end effector without the need for afiring member attached thereto. The flexible firing beam assembly 3280may comprise a laminated beam arrangement of the various types describedherein. In one arrangement, at least two compression bands are employedto provide lateral support to the flexible firing beam assembly 3280 asit traverses the articulation joint. The illustrated embodiment employsa total of four compression bands for providing lateral support to theflexible firing beam as it traverses the articulation joint. Forexample, the elongate shaft assembly 3200 further includes a spine 3210that includes a distal end 3217 that has two distal cavities, or notches3219, and two proximal cavities, or notches 3219′, formed therein. Onedistal cavity 3219 accommodates a first proximal end 3904 of a firstcompression band 3900 located on one lateral side 3281 of said flexiblefiring beam assembly 3280 and the other distal cavity 3219 accommodatesa second proximal end 3905 of a second compression band 3901 located onanother lateral side 3283 of the flexible firing beam assembly 3280. Thefirst compression band 3900 includes a first distal end 3902 that ismounted within a corresponding upstanding lateral support wall 330formed on the proximal end 320 of the elongate channel 302 of thesurgical end effector 300. Similarly, the second compression band 3901includes a second distal end 3907 that is also mounted within acorresponding upstanding lateral support wall 330 formed on the proximalend 320 of the elongate channel 302 of the surgical end effector 300.The first and second distal compression bands 3900, 3901 may befabricated from spring steel or the like and the proximal ends 3904,3905 may be folded in a U-shaped fashion to form a biasing portionconfigured to be movably received within the distal notches 3219 asshown. Such arrangement permits the first and second distal compressionbands 3900, 3901 to flex in response to the articulation of the surgicalend effector 300 while retaining the proximal ends 3904, 3905 withintheir corresponding distal notches 3219.

As can also be seen in FIGS. 44-46 , the elongate shaft assembly 3200further includes a third compression band 3910 and a fourth compressionband 3911. Like the first and second compression bands 3900, 3901, thethird and fourth compression bands 3910, 3911 may be fabricated fromspring steel. As can be seen in FIGS. 44-46 , the third compression band3910 may be situated between the first compression band 3900 and thelateral side 3281 of the flexible firing beam assembly 3280 and thefourth compression band 3911 may be situated between the secondcompression band 3901 and the other lateral side 3283 of the flexiblefiring band assembly 3280. The third proximal end 3914 of the thirdcompression band 3910 as well as the fourth proximal end 3915 of thefourth compression band 3911 may each be folded in a U-shaped fashion toform a biasing portion that is movably received within a correspondingproximal cavity 3219′ in the spine 3210. The third distal end 3912 ofthe third compression band 3910 and the fourth distal end 3917 of thefourth compression band 3911 are mounted in a corresponding lateralsupport wall 330 in the surgical end effector 300.

The elongate shaft assembly 3200 further comprises a movable supportlink assembly 3920 for providing further lateral support to the flexiblefiring beam assembly 3280 as the end effector 300 is articulated aboutthe articulation axis. As can be seen in FIGS. 44-46 , the movablesupport link assembly 3920 comprises a middle support member 3922 thatis movably coupled to the surgical end effector 300 as well as theelongate shaft assembly 3200. In one embodiment, the middle supportmember 3922 is pivotally pinned to the proximal end 320 of the elongatechannel 302. The middle support member 3922 further includes aproximally protruding tab 3926 that has an elongate proximal slot 3928therein. The proximal slot 3928 is configured to slidably receive amiddle support pin 3211 formed on the spine 3210. Such arrangementpermits the relative pivotal and axial movement between the middlesupport member 3922 and the spine 3210 of the elongate shaft assembly3200 so as to accommodate a larger range of articulation while beingable to dynamically move so as to maintain adequate lateral support onthe firing beam assembly 3280. As can be seen in FIGS. 44-46 , themiddle support member 3922 further includes centrally disposed slot 3930for axially receiving the firing beam assembly 3280 therethrough.

As can be further seen in FIGS. 44-46 , the movable support linkassembly 3920 further comprises an elongate movable pivot link 3940. Thepivot link 3940 includes a central body portion 3942 that has proximallyprotruding proximal nose portion 3943 and a distally-protruding distalnose portion 3944. The pivot link 3940 further includes a firstdownwardly-protruding lateral support wall 3945 and a second downwardlyprotruding lateral support wall 3946 that define a beam slot 3947therebetween. As can be seen in FIG. 46 , the firing beam assembly 3280is configured to extend between the first and second lateral supportwalls 3945, 3946 during actuation of the firing beam assembly 3280 andarticulation of the surgical end effector 300. Further, in theillustrated arrangement, for example, the first compression band 3900extends between the first lateral support wall 3945 and the thirdcompression band 3910 and the second compression band 3901 extendsbetween the second lateral support wall 3946 and the fourth compressionband 3911. The first lateral support wall 3945 includes an inwardlyfacing first arcuate surface 3948 and the second lateral support wall3946 includes an inwardly facing second arcuate surface 3949. The firstand second arcuate surfaces 3948, 3949 serve to provide lateral supportto the firing beam assembly 3280 as it flexes during articulation of theend effector 300. The radiused surfaces may match the outer radius ofthe firing beam assembly 3280 and compression bands 3900, 3901, 3910,3911 depending upon the direction and degree of articulation. As canalso be seen in FIGS. 44 and 45 , the distal end 3217 of the spine 3210includes a pair of right and left opposing shaft notches 3218 into whichthe rounded proximally-protruding proximal nose portion 3943 of thepivot link 3940 extends depending upon the direction in which thesurgical end effector is articulated about the articulation axis.Similarly, right and left opposed support notches 3932 are provided inthe middle support 3922 to accommodate the distally-protruding distalnose portion 3944 of the pivot link 3940 depending upon the direction inwhich the end effector is articulated. Such notch arrangements serve toproperly align the pivot link 3940 in an orientation suited toaccommodate the direction of articulation while affording lateralsupport to the pivot link 3940.

FIGS. 47-51 illustrate another elongate shaft assembly 4200 that is, insome aspects, similar to the elongate shaft assembly 2200 describedabove, except for various differences discussed in further detail below.Those components of the elongate shaft assembly 2200 that have beendiscussed in detail above will contain like element numbers and, for thesake of brevity, will not be further discussed in great detail beyondthat which may be necessary to understand the operation of elongateshaft assembly 4200 when, for example, employed with portions of thesurgical instrument 10 as described above. As can be seen in FIG. 47 ,in at least one example, the elongate shaft assembly 4200 includes anarticulation lock 2350. As was discussed in detail above, thearticulation lock assembly 2350 includes a proximal lock adapter 2360that is coupled (e.g., pinned) to a first distal articulation driver4370. As can be seen in FIGS. 47 and 50 , the first distal articulationdriver 4370 includes a first proximal gear rack segment 4371 and a firstdistal gear rack segment 4373 formed on a distal end 4372 thereof. Theelongate shaft assembly 4200 also includes a second distal articulationdriver 4380 that includes a second proximal gear rack segment 4381 and asecond distal gear rack segment 4383 that is formed on a distal end 4382thereof.

The first distal articulation driver 4370 and the second distalarticulation driver 4380 are configured to move axially relative to thedistal spine assembly 4212 in the proximal direction PD and the distaldirection DD. As can be seen in FIG. 50 , the first proximal gear racksegment 4371 and the second proximal gear rack segment 4381 are inmeshing engagement with a proximal power transfer gear 4390 that isrotatably supported by the distal spine assembly 4212. Likewise, thefirst distal gear rack segment 4373 and the second distal gear racksegment 4383 are in meshing engagement with a distal power transfer gearassembly 4392. In particular, in at least one arrangement, the distalpower transfer gear assembly 4392 includes a pinion gear 4393 that is inmeshing engagement with the first distal gear rack segment 4373 and thesecond distal gear rack segment 4383. The distal power transfer gearassembly 4392 further includes a drive gear 4394 that is arranged inmeshing engagement with an idler gear 4395. The idler gear 4395 is, inturn, supported in meshing engagement with a driven gear 4306 that isformed on the proximal end portion 4320 of the elongate channel 4302 ofa surgical end effector 4300. The surgical end effector 4300 mayotherwise be similar to the surgical end effector 2300 and include ananvil 4310 that may be opened and closed in the various mannersdescribed above. Referring to FIGS. 48, 49 and 51 , the distal spineassembly 4212 may comprise an upper spine portion 4212A and a lowerspine portion 4212B. The distal power transfer gear assembly 4392, theidler gear 4395 and the driven gear portion 4306 of the elongate channel4302 are each pivotally attached to or supported on the bottom portion4212B of the distal spine assembly 4212.

The elongate shaft assembly 4200 depicted in FIG. 47 includes a firingbeam assembly 3280 that is attached to a firing member (not shown). Thefiring beam assembly 3280 may comprise a laminated beam arrangement ofthe types described herein. Operation of the firing member was describedin detail above and will not be repeated for the sake of brevity. As canalso be seen in FIG. 47 , a firing beam support member 4400 of the typedisclosed in U.S. patent application Ser. No. 14/575,117, entitledSURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRINGBEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309, the entiredisclosure of which is hereby incorporated by reference herein, isemployed to provide support to the firing beam assembly 3280 duringarticulation of the surgical end effector 4300. FIG. 52 illustrates useof a distal firing beam assembly 2280 in an elongate shaft assembly4200. As can be seen in that Figure, a plurality of lateral loadcarrying members 2290 are employed in the manner described above toprovide support to the distal firing beam assembly 2280 as the surgicalend effector 4300 is articulated.

FIGS. 53-58 illustrate another elongate shaft assembly 5200 that is, insome aspects, similar to the elongate shaft assembly 2200 describedabove, except for various differences discussed in further detail below.Those components of the elongate shaft assembly 5200 that have beendiscussed in detail above with respect to the elongate shaft assembly2200 will be identified with like element numbers and, for the sake ofbrevity, will not be further discussed in great detail beyond that whichmay be necessary to understand the operation of the elongate shaftassembly 5200 when, for example, employed with portions of the surgicalinstrument 10 as described above.

Similar to the elongate shaft assembly 2200, the illustrated elongateshaft assembly 5200 includes a clutch assembly 2400 which is configuredto operably engage an articulation system 5600 that is configured toapply push and pulling articulation motions to the surgical end effector300 that is operably coupled thereto. In this embodiment, the clutchassembly 2400 includes a lock collar, or lock sleeve 2402, that ispositioned around the firing member 2220 wherein the lock sleeve 2402can be rotated between an engaged position in which the lock sleeve 2402operably engages the articulation system 5600 to the firing member 2220and a disengaged position in which the articulation system 5600 is notoperably coupled to the firing member 2220. Referring specifically toFIGS. 54-56 , in the illustrated example, the articulation system 5600comprises an articulation disc or rotary member 5602 that is supportedfor rotational movement within the nozzle 201. The articulation disc5602 is rotatably driven by a drive connection assembly 5610. In theillustrated example, the drive connection assembly 5610 includes a drivepin 5612 that is attached to the articulation disc 5602. An articulationdrive link 5614 is operably attached to the drive pin 5612 by aconnector 5616 that facilitates some movement of the articulation drivelink 5614 relative to the drive pin 5612. See FIGS. 54-56 . Thearticulation drive link 5614 includes a drive coupler 5618 that isconfigured to drivingly engage the outwardly facing lock member 2406 onthe lock sleeve 2402. See FIG. 53 .

As discussed above, the lock sleeve 2402 can comprise a cylindrical, orat least a substantially cylindrical body including a longitudinalaperture 2403 defined therein configured to receive the firing member2220. See FIG. 53 . The lock sleeve 2402 can comprisediametrically-opposed, inwardly-facing lock protrusions 2404 and anoutwardly-facing lock member 2406. The lock protrusions 2404 can beconfigured to be selectively engaged with the firing member 2220. Moreparticularly, when the lock sleeve 2402 is in its engaged position, thelock protrusions 2404 are positioned within a drive notch 2224 definedin the firing member 2220 such that a distal pushing force and/or aproximal pulling force can be transmitted from the firing member 2220 tothe lock sleeve 2402. When the lock sleeve 2402 is in its engagedposition, the outwardly facing lock member 2406 is received within adrive notch 5619 in the drive coupler 5618 as shown in FIG. 53 such thatthe distal pushing force and/or the proximal pulling force applied tothe lock sleeve 2402 can be transmitted to the articulation drive link5614. In effect, the firing member 2220, the lock sleeve 2402, and thearticulation drive link 5614 will move together when the lock sleeve2402 is in its engaged position. On the other hand, when the lock sleeve2402 is in its disengaged position, the lock protrusions 2404 may not bepositioned within the drive notch 2224 of the firing member 2220 and, asa result, a distal pushing force and/or a proximal pulling force may notbe transmitted from the firing member 2220 to the lock sleeve 2402.Correspondingly, a drive force DF may not be applied to the articulationdisc 5602. In such circumstances, the firing member 2220 can be slidproximally and/or distally relative to the lock sleeve 2402 and theproximal articulation driver 2230.

As was also discussed above, the elongate shaft assembly 5200 furtherincludes a switch drum 2500 that is rotatably received on the closuresleeve 2260. See FIG. 53 . The switch drum 2500 comprises a hollow shaftsegment 2502 that has a shaft boss 2504 formed thereon for receive anoutwardly protruding actuation pin 2410 therein. In variouscircumstances, the actuation pin 2410 extends into a longitudinal slot2401 provided in the lock sleeve 2402 to facilitate axial movement ofthe lock sleeve 2402 when it is engaged with the articulation drive link5614. A rotary torsion spring 2420 is configured to engage the boss 2504on the switch drum 2500 and a portion of the nozzle housing 201 to applya biasing force to the switch drum 2500. As also discussed above, theswitch drum 2500 can further comprise at least partially circumferentialopenings defined therein which can be configured to receivecircumferential mounts extending from the nozzle halves and permitrelative rotation, but not translation, between the switch drum 2500 andthe nozzle housing 201. As described above, rotation of the switch drum2500 will ultimately result in the rotation of an actuation pin 2410 andthe lock sleeve 2402 between its engaged and disengaged positions. Thus,in essence, the nozzle housing 201 may be employed to operably engageand disengage the articulation system 5600 with the firing drive systemin the various manners described above as well as in U.S. patentapplication Ser. No. 13/803,086, now U.S. Patent Application PublicationNo. 2014/0263541.

Referring again to FIGS. 53-56 , the articulation system 5600 of theillustrated example, further includes a “first” or right articulationlinkage 5620 and a “second” or left articulation linkage 5640. The firstarticulation linkage 5620 includes a first articulation link 5622 thatincludes a first articulation pin 5624 that is movably received within afirst articulation slot 5604 in the articulation disc 5602. The firstarticulation link 5622 is movably pinned to a first articulationconnector 5626 that is configured to engage an articulation lock 2350.As discussed above, the articulation lock 2350 can be configured andoperated to selectively lock the surgical end effector 300 in position.Such arrangement enables the surgical end effector 300 to be rotated, orarticulated, relative to the shaft closure sleeve 2260 when thearticulation lock 2350 is in its unlocked state. When the articulationdrive link 5614 is operably engaged with the firing member 2220 via theclutch system 2400, further to the above, the firing member 2220 canrotate the articulation disc 6502 to move the first articulation linkage5620 proximally and/or distally. Movement of the first articulationconnector 5626 of the first articulation linkage 5620, whether it isproximal or distal, can unlock the articulation lock 2350 as wasdescribed above. The proximal lock adapter 2360 includes a lock cavity2362 for receiving therein first lock elements 2364 and second lockelements 2366 that are journaled on a frame rail that extends betweenthe proximal frame 2210 and the distal frame. Operation of thearticulation lock 2350 was described above and, for the sake of brevity,will not be further discussed herein. As can be seen in FIG. 53 , afirst distal articulation driver 5370 is attached to the proximal lockadapter 2360. The first distal articulation driver 5370 is operablyattached to the proximal end 320 of the elongate channel 302 of thesurgical end effector 300.

As was also indicated above, the articulation system 5600 of theillustrated example, further includes a “second” or left articulationlinkage 5640. As can be seen in FIGS. 54-56 , the second articulationlinkage 5640 includes a second articulation link 5642 that includes asecond articulation pin 5644 that is movably received within a secondarticulation slot 5606 in the articulation disc 5602. The secondarticulation link 5642 is pinned to a second articulation bar 5646 thatis attached to the proximal end 320 of the elongate channel 302 of thesurgical end effector 300. Referring to FIG. 54 , the articulationsystem 5600 further includes a first articulation biasing member 5628that is received within the first articulation slot 5604 and a secondarticulation biasing member 5648 that is received within the secondarticulation slot 5606. FIG. 54 illustrates the articulation system 5600in a neutral or unarticulated configuration. As can be seen in thatFigure, the first articulation pin 5624 is in contact with the firstarticulation biasing member 5628 and the second articulation pin 5644 isin contact with the second articulation biasing member 5648. However,when in that neutral position, the first and second articulation biasingmembers 5628, 5648 may not be in a compressed state. FIG. 55 illustratesapplication of the drive force DF to the articulation disc 5602 in theproximal direction PD by the articulation drive link 5614 in theabove-described manner. Application of the drive force DF in theproximal direction PD results in rotation of the articulation disc 5602in the rotary direction represented by arrow 5601. As the articulationdisc 5602 rotates in the rotary direction 5601, the end of the secondarticulation slot contacts the second articulation pin 5644 and appliesa pushing force to the second articulation linkage 5640 and ultimatelyto the second articulation bar 5646. Conversely, the first articulationbiasing member 5628 urges the first articulation pin 5624 in thedirection of arrow 5601 within the first articulation slot 5604 suchthat a pulling force is applied to the first articulation linkage 5620in the proximal direction PD. This proximal pulling force is transmittedto the first distal articulation driver 5370 through the articulationlock 2350. Such “pushing and pulling motions” as applied to the surgicalend effector causes the surgical end effector 300 to articulate aboutthe articulation axis in the direction represented by arrow 5300. SeeFIG. 53 . When the articulation disc 5602 is in the position illustratedin FIG. 55 , the second articulation biasing member 5648 may be in acompressed state and the first articulation biasing member may not becompressed. Thus, when the application of drive force DF to thearticulation drive link 5614 is discontinued, the second articulationbiasing member 5648 may bias the articulation disc 5602 back to theneutral position shown in FIG. 54 , for example.

Conversely, when the drive force DF is applied to the articulation drivelink 5614 in the distal direction DD as shown in FIG. 56 , thearticulation disc 5602 rotates in the rotary direction represented byarrow 5603. As the articulation disc 5602 rotates in the rotarydirection 5603, the end of the first articulation slot 5604 contacts thefirst articulation pin 5624 and applies a pushing force to the firstarticulation linkage 5620 and ultimately to the first distalarticulation driver 5370 through the articulation lock 2350. Inaddition, the second articulation biasing member 5648 urges the secondarticulation pin 5644 in the direction of arrow 5603 within the secondarticulation slot 5606 such that a pulling force is applied to thesecond articulation linkage 5640 in the proximal direction PD. Thisproximal pulling force is transmitted to the second articulation bar5646. Such “pushing and pulling motions” as applied to the surgical endeffector 300 causes the surgical end effector 300 to articulate aboutthe articulation axis in the direction represented by arrow 5302. SeeFIG. 53 . When the articulation disc 5602 is in the position illustratedin FIG. 56 , the first articulation biasing member 5628 may be in acompressed state and the second articulation biasing member 5648 may notbe compressed. Thus, when the application of drive force DF to thearticulation drive link 5614 is discontinued, the first articulationbiasing member 5628 may bias the articulation disc 5602 back to theneutral position shown in FIG. 54 , for example.

FIG. 57 illustrates the attachment of the distal end portion 814 of theshaft frame 812 to the surgical end effector 300 that is operablycoupled to the elongate shaft assembly 5200. As described above, thedistal end portion 814 has a downwardly protruding pivot pin (not shown)thereon that is adapted to be pivotally received within a pivot hole(not shown) that is formed in the proximal end portion 320 of theelongate channel 302. Such arrangement facilitates pivotal travel of theelongate channel 302 relative to the shaft frame 812 about anarticulation axis B-B defined by the pivot hole. As can also be seen inFIG. 57 , the first distal articulation driver 5370 is attached to afirst coupler 850 by a first ball joint 852. The first coupler 850 isalso pivotally pinned to the proximal end portion 320 of the elongatechannel 302 by a first pin 854 as can be seen in FIG. 57 . Similarly,the second articulation bar 5646 is attached to a second coupler 870 bya second ball joint 872. The second coupler 870 is also pivotally pinnedto the proximal end portion 320 of the elongate channel 302 by a secondpin 874 as can be seen in FIG. 57 .

Referring to FIGS. 53 and 58 , the elongate shaft assembly 5200 may alsoinclude a firing beam assembly 2280 that is attached to a firing member900 of the type described above. The firing beam assembly 2280 isattached to the firing member 2220 and may be axially advanced andretracted in the various manners described above. The elongate shaftassembly 5200 may further comprise a multiple support link assembly 920for providing lateral support to the distal firing beam 2280 as thesurgical end effector 300 is articulated about the articulation axisB-B. As can be seen in FIG. 58 , the multiple support link assembly 920comprises a middle support member 922 that is pivotally pinned to theproximal end 320 of the elongate channel 302 in the manners describedabove. The middle support member 922 further includes centrally disposedslot 930 for axially receiving the distal firing beam 2280 therethrough.The multiple support link assembly 920 further comprises a proximalsupport link 940 and a distal support link 950. The proximal supportlink 940 includes a body portion 942 that has a rounded proximal end 943and a rounded distal end 944. The proximal support link 940 furtherincludes a pair of downwardly protruding lateral support walls 945 thatdefine a proximal slot therebetween. Similarly, the distal support link950 includes a body portion 952 that has a rounded proximal end 953 anda rounded distal end 954. The distal support link 950 further includes apair of downwardly protruding lateral support walls 955 that define adistal slot therebetween. As can be seen in FIG. 58 , the distal firingbeam 2280 is configured to extend between the lateral support walls 945of the proximal support link 940 and the lateral support walls 955 ofthe distal support link 950. Each support wall 945 and 955 includes aninwardly facing arcuate surface as was described above. The supportsurfaces serve to provide lateral support to the distal firing beam 2280as it flexes during articulation of the surgical end effector 300. Inaddition, the closure sleeve assembly 2260 may include a double pivotclosure sleeve assembly of the type described above that is configuredto operably interact with the anvil on the surgical end effector 300.Operation of the closure sleeve assembly 2260 results in the opening andclosing of the anvil of the surgical effector in the various mannersdescribed above.

FIG. 59 illustrates a portion of another elongate shaft assembly 5700that may be substantially similar to the elongate shaft assembly 5200except for the differences discussed below. In particular, thearticulation disc 5702 of the articulation system 5701 is rotated by aworm gear motor 5710 that is operably supported in the nozzle housing201. In one embodiment, for example, a driven gear 5703 is integrallyformed or otherwise non-movably attached to the articulation disc 5702such that it is in meshing engagement with the worm gear drive 5712 ofthe motor 5710. In the illustrated example, a first articulation rod ormember 5720 may be directly attached to a portion of a surgical endeffector in any of the various manners described herein. A firstarticulation pin 5722 is attached to the first articulation rod 5720 andis received within an arcuate first articulation slot 5704 formed in thearticulation disc 5702. A first articulation biasing member 5705 isreceived within the first articulation slot 5704 for biasing contactwith the first articulation pin 5722. Likewise, a second articulationrod or member 5730 may be directly or indirectly attached to a portionof a surgical end effector in any of the various manners describedherein. A second articulation pin 5732 is attached to the secondarticulation rod 5730 and is received within an arcuate secondarticulation slot 5706 formed in the articulation disc 5702. A secondarticulation biasing member 5707 is received within the secondarticulation slot 5706 for biasing contact with the second articulationpin 5732.

FIG. 59 illustrates the articulation system 5701 in a neutral orunarticulated configuration. As can be seen in that Figure, the firstarticulation pin 5722 is in contact with the first articulation biasingmember 5705 and the second articulation pin 5732 is in contact with thesecond articulation biasing member 5707. However, when in that neutralposition, the first and second articulation biasing members 5705, 5707may not be in a compressed state. Actuation of the motor 5710 to rotatethe articulation disc 5702 in the rotary direction represented by arrow5601 will apply a pulling motion to the first articulation rod 5720 tocause the first articulation rod 5720 to move in the proximal directionPD as well as to apply a pushing motion to the second articulation rod5730 to cause the second articulation rod 5730 to move in the distaldirection DD. Conversely, actuation of the motor 5710 to rotate thearticulation disc 5702 in the rotary direction represented by arrow 5603will apply a pushing motion to the first articulation rod 5720 to causethe first articulation rod 5720 to move in the distal direction DD aswell as to apply a pulling motion to the second articulation rod 5730 tocause the second articulation rod 5730 to move in the proximal directionPD. Such “pushing and pulling motions” as applied to the surgical endeffector, causes the surgical end effector to articulate about thearticulation axis in the various manners described above.

FIGS. 60-65 illustrate another articulation system 5800 that may beemployed with various elongate shaft assemblies and effectorarrangements described herein. In this embodiment, however, thearticulation system 5800 comprises a dual articulation disc assembly5810 that comprises a driver articulation disc 5820 and a drivenarticulation disc 5830. Both of the articulation discs 5820, 5830 may,for example, be rotatably supported within the nozzle housing of theelongate shaft assembly such that both discs 5820, 5830 areindependently rotatable about a common axis. In various embodiments,drive motions may be applied to the driver articulation disc 5820 by anarticulation drive link 5614 and firing member arrangement 2220 as wasdescribed above. In other embodiments, rotary drive motions may beapplied to the driver articulation disc 5820 by a worm gear motor 5710in the manner described above.

FIG. 61 illustrates one form of a driver disc 5820. As can be seen inthat Figure, the driver disc 5820 includes a first pair of first arcuatearticulation slots 5822L, 5822R that each has a first arcuate length FL.In addition, the driver articulation disc 5820 further includes a driverslot 5824 that is centrally disposed between the first articulationslots 5822 as can be seen in FIG. 61 . Depending upon the methodemployed to drive the driver articulation disc 5820, the articulationdrive link 5614 or the worm gear motor 5710 may interface with thedriver articulation disc 5820 in the various manners described above toapply rotary motions to the driver articulation disc 5820. FIG. 62illustrates one form of a driven articulation disc 5830. As can be seenin that Figure, the driven articulation disc 5830 includes a second pairof second arcuate articulation slots 5832L, 5832R that each have asecond arcuate length SL that is less than the first arcuate length FL.In addition, the driven articulation disc 5830 further includes a driverpost 5834 that is configured to be movably received within the driverslot 5824.

Referring now to FIGS. 60 and 63-65 , the articulation system 5800further comprises a first articulation rod 5840 that may be directly orindirectly attached to a portion of a surgical end effector in any ofthe various manners described herein. A first articulation pin 5842 isattached to the first articulation rod 5840 and is received withincorresponding first and second arcuate articulation slots 5822L, 5832L.Likewise, a second articulation rod or member 5850 may be directlyattached to a portion of the same surgical end effector in any of thevarious manners described herein. A second articulation pin 5852 isattached to the second articulation rod 5850 and is received withincorresponding first and second arcuate articulation slots 5822R, 5832R.FIG. 60 illustrates the articulation system 5800 in a null positionwherein the surgical end effector may be freely moved. FIG. 63illustrates the position of the articulation system 5800 upon an initialapplication of rotary motion to the driver articulation disc 5820 in thedirection represented by arrow 5860. As can be seen in that Figure, uponinitial rotation of the driver articulation disc 5820, the articulationslots 5822L, 5832L are offset from each other and the articulation slots5822R, 5832R are offset from each other, but no motion has yet beentransferred to articulation rods 5840, 5850. FIG. 64 illustrates theposition of the articulation system 5800 upon continued application ofthe rotary motion to the driver articulation disc 5820 in the directionof arrow 5860 sufficient enough to result in, for example, aseventy-five degree of articulation of the surgical end effectorrelative to the shaft axis. As can be seen in that Figure, a pushingmotion is applied to the first articulation rod 5840 to cause the firstarticulation rod 5840 to axially move in the distal direction DD and apulling motion is applied to the second articulation rod 5850 to causethe second articulation rod 5850 to axially move in the proximaldirection PD. The movement of the first and second articulation rods5840, 5850 in opposite directions results in the articulation of thesurgical end effector operably interfacing therewith. FIG. 65illustrates the position of the articulation system 5800 uponapplication of the rotary motion to the driver articulation disc 5820 inan opposite direction represented by arrow 5862 that is sufficientenough to result in, for example, a seventy-five degree of articulationof the surgical end effector relative to the shaft axis in an oppositearticulation direction. As can be seen in that Figure, a pushing motionis applied to the second articulation rod 5850 to cause the secondarticulation rod 5850 to axially move in the distal direction DD and apulling motion is applied to the first articulation rod 5840 to causethe first articulation rod 5840 to axially move in the proximaldirection PD. Such opposing movements of the first and secondarticulation rods 5840, 5850 result in the articulation of the surgicalend effector that is operably attached thereto. In one configuration,the first articulation rod 5840 may only apply a pulling force to thesurgical end effector when the articulation driver disc 5820 has beenrotated a sufficient distance as to attain a seventy-five degree rangeof articulation.

FIGS. 66-70 illustrate a surgical end effector 6300 that comprises firstand second jaws that are simultaneously movable between open and closedpositions relative to the shaft axis SA-SA. The first and second jawsmay comprise a variety of surgical jaw arrangements without departingfrom the spirit and scope of the present invention. Gaining access totarget tissue with the jaws of a surgical end effector can, at times, bechallenging. The maneuverability of a surgical end effector,particularly a surgical end effector that is configured to cut andstaple tissue, may be enhanced if the distance between the point atwhich the jaws are supported relative to each other and theproximal-most staple locations is minimized. For example, those surgicalend effectors that only employ one movable jaw (i.e., one of the jaws isfixed relative to the shaft axis) may require that the one movable jawhave a relatively large range of travel in order to accommodate thetarget tissue. Such larger range of travel can complicate the process ofusing the end effector to advantageously position the target tissue. Thesurgical end effector 6300 employs first and second jaws that moverelative to each other and the shaft axis about a common pivot axis.Such arrangement enables the distance between the pivot axis and theproximal-most staple locations to be shortened when compared to the samedistance on certain surgical end effectors that employ only one movablejaw, for example.

In the illustrated example, a first jaw 6310 includes an elongatechannel 6312 that is configured to support a surgical staple cartridge6320 therein. As can be seen in FIG. 70 , the surgical staple cartridge6320 is configured to operably support a plurality of staple drivers6322 therein that operably support surgical staples 6324 thereon. Thestaple drivers 6322 are movably supported within corresponding driverslots 6321 formed in the surgical staple cartridge 6320. The stapledrivers 6322 are retained within their respective driver slot 6321 by acartridge pan 6330 that clips to or is otherwise attached to thesurgical staple cartridge 6320. The staple drivers 6322 are arranged inrows on each side of an elongate slot 6326 in the surgical staplecartridge 6320 to accommodate the axial passage of a firing member 6340therethrough. A wedge sled 6350 is movably supported within the surgicalstaple cartridge 6320 and is configured to be drivingly engaged by thefiring member 6340 as the firing member 6340 is driven from a startingposition adjacent to the proximal end of the surgical staple cartridge6320 and an ending position within a distal portion of the surgicalstaple cartridge 6320. As was discussed above, as the wedge sled 6350 isdriven in the distal direction through the surgical staple cartridge6320, the wedge sled 6350 drivingly contacts the staple drivers 6322 todrive them toward the cartridge deck surface 6323. The firing member6340 includes a tissue cutting surface 6346 that serves to cut thetissue clamped between the jaws as the firing member 6340 is drivendistally. A distal firing beam (not shown) of the various typesdescribed herein is operably attached to the firing member 6340 as wellas to an intermediate firing shaft portion 2222 or other firing systemarrangement. Operation of the intermediate firing shaft portion 2222 todrive and retract the distal firing beam was discussed in detail aboveand will not be repeated for the sake of brevity. Other firing beam andfiring system arrangements (motor-powered as well as manually-powered)may also be employed to power the firing member without departing fromthe spirit and scope of the present invention.

The illustrated surgical end effector 6300 is also configured forselective articulation about an articulation axis B-B that issubstantially transverse to the shaft axis SA-SA. As can be seen inFIGS. 66-70 , the surgical end effector 6300 includes an end effectormounting assembly 6390 that is adapted to be pivotally mounted to, forexample, a distal shaft frame (not shown) that includes a pivot pin thatis configured to be rotatably received within the mounting hole 6392 inthe end effector mounting assembly 6390. The surgical end effector 6300may be articulated by an articulation lock and first and secondarticulation rod arrangements of the type described above. As can beseen in FIG. 70 , the end effector mounting assembly 6390 furtherincludes a pair of opposed, laterally extending trunnion pins 6394. Thetrunnion pins 6394 extend laterally from the opposed lateral sides 6391of the end effector mounting assembly 6390 that also define a pocketarea 6395 that is configured to receive the firing member 6340 therein.The trunnion pins 6394 serve to define a pivot axis PA-PA about whichthe first and second jaws 6310, 6360 may pivot. The proximal end 6314 ofthe first jaw 6310 or elongate channel 6312 includes a pair of opposedU-shaped or open ended slots 6316 that are adapted to receive acorresponding one of the trunnion pins 6394 therein. Such arrangementserves to movably or pivotally journal the first jaw 6310 to the endeffector mounting assembly 6390.

The illustrated surgical end effector 6300 further comprises a secondjaw 6360 that may comprise an anvil 6362. The illustrated anvil 6362includes an anvil body 6364 that includes an elongate slot 6366 and twostaple forming surfaces 6368 formed on each side thereof. The anvil 6362further has a proximal end portion 6370 that has a pair of U-shaped oropen ended slots 6372 that are also adapted to receive a correspondingone of the trunnion pins 6394 therein. Such arrangement serves tomovably or pivotally journal the second jaw 6360 to the end effectormounting assembly 6390 such that the first and second jaws may moverelative to each other as well as to relative to the shaft axis SA-SA.The first and second jaws 6310 and 6360 may be movably actuated by aclosure system of the various types disclosed herein. For example, afirst closure drive system of the type described herein may be employedto actuate a closure sleeve in the above-described manner. The closuresleeve may also be attached to an end effector closure sleeve 6272 thatmay be pivotally attached to the closure sleeve by a double pivotclosure sleeve assembly in the manner described above. As was describedabove, for example, axial movement of the closure sleeve may becontrolled through actuation of a closure trigger 32. As can be seen inFIGS. 67-69 , the end effector closure sleeve 6272 extends over the endeffector mounting assembly 6390 and is configured to engage the proximalend 6370 of the second jaw 6360 as well as the proximal end 6314 of thefirst jaw 6310. At least one cam surface 6336 may be formed on theproximal end 6314 of the first jaw 6310 such that when the distal end6274 of the end effector closure sleeve 6272 contacts the cam surface(s)6336, the first jaw 6310 is cammed toward the second jaw and the shaftaxis SA-SA. Likewise, one or more cam surfaces 6376 may be formed on theproximal end portion 6370 of the second jaw 6360 such that whencontacted by the distal end 6274 of the end effector closure sleeve6272, the second jaw 6360 is moved toward the first jaw 6310 and theshaft axis SA-SA. The cam surfaces 6336, 6376 may be configured andpositioned relative to each other such that the first and second jawsclose at different “closure rates” or closure times relative to eachother. One such arrangement is depicted in FIG. 68 . As can be seen inFIG. 68 , the distance along an arcuate path between a point P₁ on thefirst jaw 6310 and a corresponding point P₂on the second jaw 6360 whenthe first and second jaws are in their respective fully opened positionis represented by D_(T). The first and second points P₁ and P₂ are saidto “correspond to” each other. For example, the first point P₁ and thesecond point P₂ may each lie on a common line or axis that extendstherebetween and is perpendicular to the shaft axis SA-SA. The distancealong an arcuate path between another point P_(A) on the first jaw 6310and the shaft axis SA-SA is represented by D₁ and the distance alonganother arcuate path between another corresponding point P_(B) on thesecond jaw and the shaft axis SA-SA is represented by D₂. Point P_(A)and point P_(B) are also said to correspond to each other. For example,point P_(A) and point P_(B) may lie on a common line or axis thatextends therebetween and which is perpendicular to the shaft axis SA-SA.In the illustrated arrangement, the distance D₂ that the second jaw 6360or anvil 6362 moves from the fully open to the closed position whereinthe staple-forming surface of the anvil 6362 lies along the shaft axisSA-SA is greater than the distance D₁ that the first jaw 6310 orsurgical staple cartridge 6320 moves from the fully open position to theclosed position wherein the cartridge deck surface lies along the shaftaxis SA-SA. For example, in at least one arrangement, the second jaw oranvil will open or move ⅔ of the distance D_(T) (or another distancealong another travel path between the jaws) and the first jaw or staplecartridge will open or move ⅓ of the distance D_(T) (or other distancealong yet another travel path between the jaws), so that, in essence,one jaw attains its fully closed position quicker or faster than theother jaw attains its fully closed position even though a closure motionor motions were initially applied to both jaws at the same or similartimes. For example, the cam surfaces on the first and second jaws may bearranged/configured to attain different jaw-movement ratios/rateswithout departing from the spirit and scope of this embodiment of thepresent invention. An opening spring 6380 (FIG. 70 ) may be positionedbetween the proximal end 6314 of the first jaw 6310 and the proximal end6370 of the second jaw 6360 to bias the first and second jaws 6310, 6360to the open position when the end effector closure sleeve 6272 ispositioned in the starting or unactuated position. See FIGS. 67-69 .

To move the first and second jaws 6310, 6360 to a closed position (FIG.66 ), the clinician actuates the closure system to move the end effectorclosure sleeve 6272 in the distal direction DD to simultaneously contactthe cam surface(s) 6336 on the proximal end 6314 of the first jaw 6310and the cam surface(s) 6376 on the proximal end 6370 of the second jaw6360 to bias the first and second jaws 6310, 6360 towards each other(and shaft axis SA-SA) to the position shown in FIG. 66 . While the endeffector closure sleeve 6272 is retained in that position, the first andsecond jaws 6310 and 6360 are retained in that closed position.Thereafter, the firing system may be actuated to axially advance thefiring member 6340 distally through the surgical end effector 6300. Ascan be seen in FIG. 70 , the firing member 6340 may have a foot portion6342 that is configured to slidably engage a slotted passage 6374 of theanvil 6362 and a top tab portion 6344 that is adapted to be slidablyreceived within a slotted passage 6318 in the elongate channel 6312. SeeFIG. 69 . Thus, such firing member arrangement serves to positivelyretain the first and second jaws 6310, 6360 at a desired spacingarrangement during firing of the firing member (i.e., during firing ofthe staples and cutting of the tissue that is clamped between the firstand second jaws 6310, 6360). A first jaw cover 6315 is removablyattached to the elongate channel 6312 and a second jaw cover 6363 isremovably attached to the anvil 6362 for assembly purposes as well as toprevent the infiltration of tissue and/or body fluid into the first andsecond jaws which may hamper or interfere with operation of the firingmember 6340.

FIG. 71 illustrates another surgical end effector 6300′ that is similarto surgical end effector 6300. As can be seen in that Figure, thesurgical end effector 6300′ comprises two jaws that are simultaneouslymovable between open and closed positions relative to the shaft axisSA-SA. In the illustrated example, a first jaw 6310′ includes anelongate channel 6312′ that is configured to support a surgical staplecartridge 6320′ therein. The surgical staple cartridge 6320′ isconfigured to operably support a plurality of staple drivers 6322therein that operably support surgical staples 6324 thereon. The stapledrivers 6322 are movably supported within corresponding driver pockets6321′ formed in the surgical staple cartridge 6320′. The staple drivers6322 are retained within their respective driver pocket 6321′ by acartridge pan 6330′ that clips to or is otherwise attached to thesurgical staple cartridge 6320′. The staple drivers 6322 are arranged inrows on each side of an elongate slot 6326′ in the surgical staplecartridge 6320 to accommodate the axial passage of a firing member 6340′therethrough. A wedge sled 6350′ is movably supported within thesurgical staple cartridge 6320′ and is configured to be driving engagedby the firing member 6340′ as the firing member 6340′ is driven from astarting position adjacent to the proximal end of the surgical staplecartridge 6320′ and an ending position within a distal portion of thesurgical staple cartridge 6320′. As was discussed above, as the wedgesled 6350′ is driven in the distal direction through the surgical staplecartridge 6320′, the wedge sled 6350′ drivingly contacts the stapledrivers 6322 to drive them toward the cartridge deck surface 6323′. Thefiring member 6340′ includes a tissue cutting surface 6346′ that servesto cut the tissue clamped between the jaws as the firing member 6340 isdriven distally. A distal firing beam (not shown) of the various typesdescribed herein is operably attached to the firing member 6340′ as wellas to an intermediate firing shaft portion 2222 or other firing systemarrangement. Operation of the intermediate firing shaft portion 2222 todrive and retract the distal firing beam was discussed in detail aboveand will not be repeated for the sake of brevity. Other firing beam andfiring system arrangements (motor-powered as well as manually-powered)may also be employed to power the firing member without departing fromthe spirit and scope of the present invention.

The illustrated surgical end effector 6300′ is also configured forselective articulation about an articulation axis B-B that issubstantially transverse to the shaft axis SA-SA. The end effector 6300′includes an end effector mounting assembly 6390′ that is adapted to bepivotally mounted to, for example, a distal shaft frame that includes apivot pin configured to be rotatably received within a mounting hole6392′ in the end effector mounting assembly 6390′. The surgical endeffector 6300′ may be articulated by an articulation lock and first andsecond articulation rod arrangements of the type described above. As canbe seen in FIG. 71 , the end effector mounting assembly 6390′ furtherincludes a pair of opposed, laterally extending trunnion pins 6394′. Thetrunnion pins 6394′ extend laterally from the opposed lateral sides6391′ of the end effector mounting assembly 6390′ that also define apocket area 6395′ that is configured to receive the firing member 6340′therein. The trunnion pins 6394′ serve to define a pivot axis PA-PAabout which the first and second jaws 6310′, 6360′ may pivot. Theproximal end 6314′ of the first jaw 6310′ or elongate channel 6312′includes a pair of opposed U-shaped or open ended slots 6316′ that areadapted to receive a corresponding one of the trunnion pins 6394′therein. Such arrangement serves to movably or pivotally journal thefirst jaw 6310′ to the end effector mounting assembly 6390′.

The illustrated surgical end effector 6300′ further comprises a secondjaw 6360′ that may comprise an anvil 6362′. The illustrated anvil 6362′includes an anvil body 6364′ that includes an elongate slot 6366′ andtwo staple forming surfaces formed on each side thereof. The anvil 6362′further has a proximal end portion 6370′ that has a pair of U-shaped oropen ended slots 6372′ that are also adapted to receive a correspondingone of the trunnion pins 6394′ therein. Such arrangement serves tomovably or pivotally journal the second jaw 6360′ to the end effectormounting assembly 6390′. The first and second jaws 6310′ and 6360′ aremovably actuated by a closure system of the various types disclosedherein. For example, a first closure drive system 30 may be employed toactuate a closure sleeve 260 in the manner described herein. The closuresleeve 260 may also be attached to an end effector closure sleeve 6272that may be pivotally attached to the closure sleeve 260 by a doublepivot closure sleeve assembly 271 in the manner described above. As wasdescribed above, for example, axial movement of the closure sleeve 260may be controlled through actuation of a closure trigger 32. The endeffector closure sleeve 6272 extends over the end effector mountingassembly 6390′ and is configured to engage the proximal end 6370′ of thesecond jaw 6360′ as well as the proximal end 6314′ of the first jaw6310′. At least one cam surface 6336′ may be formed on the proximal end6314′ of the first jaw 6310′ such that when the distal end 6274 of theend effector closure sleeve 6272 contacts the cam surfaces 6336′, thefirst jaw 6310′ is cammed toward the second jaw 6360′ and the shaft axisSA-SA. Likewise, one or more cam surfaces 6376′ may be formed on theproximal end portion 6370′ of the second jaw 6360′ such that whencontacted by the distal end 6274 of the end effector closure sleeve6272, the second jaw 6360′ is moved toward the first jaw 6310′ and theshaft axis SA-SA. A spring (not shown) may be positioned between theproximal end 6314′ of the first jaw 6310′ and the proximal end 6370′ ofthe second jaw 6360′ to bias the first and second jaws 6310′, 6360′ tothe open position when the end effector closure sleeve 6272 ispositioned in the starting or unactuated position.

To move the first and second jaws 6310′, 6360′ to a closed position, theclinician actuates the closure system to move the end effector closuresleeve 6272 in the distal direction DD to simultaneously contact the camsurface(s) 6336′ on the proximal end 6314′ of the first jaw 6310′ andthe cam surface(s) 6376′ on the proximal end 6370′ of the second jaw6360′ to bias the first and second jaws 6310′, 6360′ towards each other(and shaft axis SA-SA). While the end effector closure sleeve 6272 isretained in that position, the first and second jaws 6310′ and 6360′ areretained in that closed position. Thereafter, the firing system may beactuated to axially advance the firing member 6340′ distally through thesurgical end effector 6300′. The firing member 6340′ may have a top tabportion 6344′ that is configured to slidably engage a slotted passage6374′ of the anvil 6362′ and a foot portion 6342′ that is adapted to beslidably received within a slotted passage in the elongate channel6312′. Thus, such firing member arrangement serves to positively retainthe first and second jaws 6310′, 6360′ at a desired spacing arrangementduring firing of the firing member (i.e., during firing of the staplesand cutting of the tissue that is clamped between the first and secondjaws 6310′, 6360′). A first jaw cover 6315′ is removably attached to theelongate channel 6312′ and a second jaw cover 6363′ is removablyattached to the anvil 6362′ for assembly purposes as well as to preventthe infiltration of tissue and/or body fluid into the first and secondjaws which may hamper or interfere with operation of the firing member6340′.

The surgical end effector embodiments described herein that employ jawsthat both move relative to each other and relative to the shaft axis mayoffer various advantages over other surgical end effector arrangementswherein one of the jaws is fixed and does not move, for example relativeto the shaft axis. In such configurations, it is often desirable for theone movable jaw to have a relatively large range of movement relative tothe fixed jaw to enable the target tissue to be manipulated, positionedand then clamped therebetween. In the embodiments wherein both jaws aremovable, each jaw doesn't require as large of range of motion toaccommodate manipulation, positioning and clamping of the target tissuebetween the jaws. Such reduced movement of the anvil, for example, mayprovide for improved tissue positioning. Such arrangements may alsoenable the distance between the pivot axis and the first staplepositions to be minimized. In addition, the firing member may alwaysremain engaged with the movable jaws (anvil and elongate channel) evenduring opening and closing actions.

FIGS. 72-79 illustrate another surgical end effector 6400 that isconfigured to be operably attached to an elongate shaft assembly of thetypes described herein which define a shaft axis SA-SA. The surgical endeffector 6400 comprises two jaws that are simultaneously movable betweenopen and closed positions relative to the shaft axis SA-SA. The firstand second jaws may comprise a variety of different surgical related jawarrangements. In the illustrated example, a first jaw 6410 includes anelongate channel 6412 that is configured to support a surgical staplecartridge 6420 therein. As in the various surgical staple cartridgesdiscussed above, the surgical staple cartridge 6420 is configured tooperably support a plurality of staple drivers (not shown) therein thatoperably support surgical staples (not shown) thereon. The stapledrivers are movably supported within corresponding driver pockets formedin the surgical staple cartridge 6420. The staple drivers are arrangedin rows on each side of an elongate slot (not shown) in the surgicalstaple cartridge 6420 to accommodate the axial passage of a firingmember 6440 therethrough. A wedge sled (not shown) is movably supportedwithin the surgical staple cartridge 6420 and is configured to bedriving engaged by the firing member 6440 as the firing member 6440 isdriven from a starting position adjacent to the proximal end of thesurgical staple cartridge 6420 and an ending position within a distalportion of the surgical staple cartridge 6420. As was discussed above,as the wedge sled is driven in the distal direction through the surgicalstaple cartridge 6420, the wedge sled drivingly contacts the stapledrivers to drive them toward the cartridge deck surface (not shown). Thefiring member 6440 includes a tissue cutting surface 6446 that serves tocut the tissue clamped between the jaws as the firing member 6440 isdriven distally. A distal firing beam (not shown) of the various typesdescribed herein is operably attached to the firing member 6440 as wellas to an intermediate firing shaft portion 2222 or other firing systemarrangement. Operation of the intermediate firing shaft portion 2222 todrive and retract the distal firing beam was discussed in detail aboveand will not be repeated for the sake of brevity. Other firing beam andfiring system arrangements (motor-powered as well as manually-powered)may also be employed to power the firing member without departing fromthe spirit and scope of the present invention.

The illustrated surgical end effector 6400 is also configured forselective articulation about an articulation axis B-B that issubstantially transverse to the shaft axis SA-SA. As can be seen inFIGS. 72-79 , the surgical end effector 6400 includes an end effectormounting assembly 6490 that is adapted to be pivotally mounted to, forexample, a distal shaft frame that includes a pivot pin that isconfigured to be rotatably received within the mounting hole 6492 in theend effector mounting assembly 6490. The surgical end effector 6400 maybe articulated by an articulation lock and first and second articulationrod arrangements of the type described above. As can be seen in FIG. 74, a pair of cam plates 6500 are non-movably attached by a spring pin6502, for example, to the end effector mounting assembly 6490. As can befurther seen in FIG. 74 , each cam plate 6500 has a cam slot 6504 thathas a closure wedge portion 6505 and an opening wedge portion 6507. Theclosure wedge portion 6505 is formed from two opposed closure camsurfaces 6506 and the opening wedge portion 6507 is formed from twoopposed opening cam surfaces 6508. The elongate channel 6412 includestwo proximally extending actuator arms 6416 that each has an openingtrunnion pinion 6418 and a closing trunnion pin 6419 protrudinglaterally therefrom. The opening and closing trunnion pins 6418 and 6419are received with the cam slot 6504 of a corresponding cam plate 6500.Such arrangement serves to movably or pivotally journal the first jaw6410 to the end effector mounting assembly 6490.

The illustrated surgical end effector 6400 further comprises a secondjaw 6460 that may comprise an anvil 6462. The illustrated anvil 6462includes an anvil body 6464 that includes an elongate slot 6466 and twostaple forming surfaces 6468 formed on each side thereof. The anvil 6462further has a proximal end portion 6470 that includes two proximallyextending actuator arms 6472 protruding therefrom. Each actuator arm6472 has an opening trunnion pinion 6474 and a closing trunnion pin 6476protruding laterally therefrom that are also received in the cam slot6504 of a corresponding cam plate 6500. Such arrangement serves tomovably or pivotally journal the second jaw 6460 to the end effectormounting assembly 6490.

The first and second jaws 6410 and 6460 are movably actuated by aclosure system of the various types disclosed herein. For example, afirst closure drive system 30 may be employed to actuate a closuresleeve in the manner described herein. The closure sleeve 260 may alsobe attached to an end effector closure sleeve 6572 that may be pivotallyattached to the closure sleeve by a double pivot closure sleeve assemblyin the manner described above. As was described above, for example,axial movement of the closure sleeve may be controlled through actuationof a closure trigger. As can be seen in FIGS. 77 and 78 , the endeffector closure sleeve 6572 extends over the end effector mountingassembly 6490 as well as the actuator arms 6416 of the first jaw 6410and the actuator arms 6472 of the second jaw 6460. As the closure sleeve6572 is advanced distally, the distal end 6574 of the closure sleeve6572 contacts a proximal end 6411 of the first jaw 6410 and a proximalend 6461 of the second jaw 6460 and moves the first and second jaws6410, 6460 in the distal direction DD. As the first and second jaws6410, 6460 move distally, the closing trunnions 6419, 6476 enter theclosure wedge portion 6505 of the cam slot 6504 and the closure camsurfaces 6506 cam the first and second jaws 6410, 6460 toward each otherto a closed position (FIGS. 73, 75, 77 and 78 ).

To facilitate opening of the first and second jaws 6410, 6460 with theclosure sleeve 6572, the closure sleeve 6572 is provided with twoinwardly extending opening tabs 6576 that are configured to engage theclosure trunnions 6419, 6476 when the closure sleeve 6572 is retractedin the proximal direction PD by the closure system. As can be seen inFIGS. 72 and 76 , for example, as the closure sleeve 6572 moves in theproximal direction PD, the opening tabs 6576 contact the closuretrunnions 6419, 6476 and drives the closure trunnions 6419, 6476 in theproximal direction as well. The proximal movement of the closuretrunnions 6419, 6476 causes the opening trunnions 6418 and 6474 to enterthe opening wedge portion 6507 of the cam plate slots 6504. The openingcam surfaces 6508 interact with the opening trunnions 6418, 6474 andcause the actuator arms 6416 and 6472 to rock open on their respectiverocker surfaces 6417 and 6475 as shown in FIGS. 76 and 79 . As with theabove-described arrangements wherein both the first and second jaws moverelative to the shaft axis SA-SA, the closure wedge portion 6505 and theopening wedge portion 6507 may be configured so that the first andsecond jaws close at different closure rates or closure times relativeto each other upon application of a closure motion thereto.

FIGS. 80-84 illustrate another surgical end effector 7400 that comprisestwo jaws wherein one jaw is movable relative to the other jaw betweenopen and closed positions. In the illustrated example, the first jaw7410 comprises an anvil 7412. The illustrated anvil 7412 has an anvilbody 7414 that has a proximal end portion 7416 that is non-movablyattached to an end effector mounting assembly 7430. For example, theproximal end portion 7416 comprises two upstanding lateral walls 7418that each has a mounting hole 7419 therein. See FIG. 82 . The endeffector mounting assembly 7430 is received between the upstandinglateral walls 7418 and is non-movably attached thereto by a spring pin7421 that extends therethrough into holes 7419. The end effectormounting assembly 7430 is adapted to be pivotally mounted to, forexample, a distal shaft frame that includes a pivot pin that isconfigured to be rotatably received within the mounting hole 7432 in theend effector mounting assembly 7430. The surgical end effector 7400 maybe articulated by an articulation lock and first and second articulationrod arrangements of the type described above or by any of the variousarticulation systems and articulation rod and/or rod/cable arrangementsdescribed herein without departing from the spirit and scope of thepresent invention. As can also be seen in FIGS. 80 and 82 , the anvilbody 7414 also includes an elongate slot 7422 with two staple formingsurfaces 7424 formed on each side thereof.

The surgical end effector 7400 further includes a second jaw 7440 thatcomprises an elongate channel 7442 that is configured to support asurgical staple cartridge 7450 therein. As in certain surgical staplecartridges discussed above, the surgical staple cartridge 7450 isconfigured to operably support a plurality of staple drivers (not shown)therein that operably support surgical staples (not shown) thereon. Thestaple drivers are movably supported within corresponding driver pockets7452 formed in the surgical staple cartridge 7450. The staple driversare arranged in rows on each side of an elongate slot 7454 in thesurgical staple cartridge 7450 to accommodate the axial passage of afiring member 7460 therethrough. A cartridge pan 7451 is attached to thestaple cartridge 7450 to prevent the staple drivers from falling out oftheir respective driver pockets 7452 when the surgical end effector 7400is manipulated into various orientations. A wedge sled 7462 is movablysupported within the surgical staple cartridge 7450 and is configured tobe driving engaged by the firing member 7460 as the firing member 7460is driven from a starting position adjacent to the proximal end of thesurgical staple cartridge 7450 and an ending position within a distalportion of the surgical staple cartridge 7450. As was discussed above,as the wedge sled 7462 is driven in the distal direction through thesurgical staple cartridge 7450, the wedge sled 7462 drivingly contactsthe staple drivers to drive them toward the cartridge deck surface (notshown). The firing member 7460 includes a tissue cutting surface 7464that serves to cut the tissue clamped between the jaws 7410, 7440 as thefiring member 7460 is driven distally. A distal firing beam 280 or ofthe other various types described herein is operably attached to thefiring member 7460 as well as to an intermediate firing shaft portion2222 or other firing system arrangement. Operation of the intermediatefiring shaft portion 2222 to drive and retract the distal firing beam280 was discussed in detail above and will not be repeated for the sakeof brevity. Other firing beam and firing system arrangements(motor-powered as well as manually-powered) may also be employed topower the firing member without departing from the spirit and scope ofthe present invention. A first jaw cover 7415 is removably attached tothe anvil 7412 a second jaw cover 7441 is removably attached to thesecond jaw 7440 for assembly purposes as well as to prevent theinfiltration of tissue and/or body fluid into the first and second jawswhich may hamper or interfere with operation of the firing member 6340.

As can be seen in FIG. 82 , the elongate channel 7442 includes aproximal end portion 7444 that has two lateral side portions 7445. Eachlateral side portion 7445 has a corresponding U-shaped or open endedslot 7446 therein that is adapted to receive a corresponding pivot pin7426 that laterally protrudes from the proximal end portion 7416 of theanvil body 7414. Such arrangement serves to movably or pivotally journalthe second jaw 7440 or elongate channel 7442 to the first jaw 7410 oranvil 7412. As can be most particularly seen in FIGS. 80, 82 and 84 ,closure ramp segments 7447 are formed on the proximal end 7444 of theelongate channel 7442. In addition, each lateral side 7445 of theproximal end portion 7444 has a lateral recess area 7448 formed therein.Each lateral recessed area 7448 is located proximal to a correspondingclosure ramp segment 7447. An opening ramp or cam 7449 is formedadjacent the proximal end of each lateral recessed area 7448. Eachopening ramp or cam 7449 terminates in a top surface 7580. See FIGS. 82and 84 .

The second jaw 7440 or elongate channel 7442 may be movably actuatedrelative to the first jaw 7410 or anvil 7412 by a closure system of thevarious types disclosed herein. For example, a closure drive system ofthe types described herein may be employed to actuate a closure sleeveof the types described herein as was discussed in detail above. Theclosure sleeve may also be attached to an end effector closure sleeve7572 that may be pivotally attached to the closure sleeve by a doublepivot arrangement in the manner described above. As was described above,for example, axial movement of the closure sleeve may be controlledthrough actuation of a closure trigger. In other arrangements, theclosure sleeve may be axially moved by means of a robotic controlsystem, etc. As can be seen in FIGS. 80, 81, 83 and 84 , the endeffector closure sleeve 7572 extends over the end effector mountingassembly 7430 as well as the proximal end portion 7444 of the elongatechannel 7442 of the second jaw 7440. The end effector closure sleeve7572 includes two diametrically opposed opening members 7574 that areconfigured to operably engage the proximal end portion 7444 of thesecond jaw 7440 or elongate channel 7442. In the illustrated embodiment,the opening members 7574 comprise inwardly extending opening tabs 7576that are formed in portions of the end effector closure sleeve 7572.

The second jaw 7440 is moved to a closed position (FIGS. 81 and 83 ) byadvancing the end effector closure sleeve 7572 in the distal directionDD. As the end effector closure sleeve 7572 moves distally, the distalend 7575 thereof contacts the closure ramp segments 7447 that are formedon the proximal end 7444 of the elongate channel 7442 and serves to camthe elongate channel 7442 towards the anvil 7412. Once the end effectorclosure sleeve 7552 has been moved to its distal-most position, thedistal end 7575 contacts an abutment surface 7443 on the elongatechannel 7442 to maintain the closure load or closing force on theelongate channel 7442. See FIGS. 81 and 83 . When the end effectorclosure sleeve 7572 is in the fully-closed position, the ends of theopening tabs 7576 are received in the corresponding lateral recess areas7448. To move the second jaw 7440 or elongate channel 7442 to an openposition, the closure system is actuated to move the closure sleeve 7572in the proximal direction PD. As the end effector closure sleeve 7572moves proximally, the opening tabs 7572 ride up the correspondingopening ramp or cam 7449 on the proximal end portion 7444 of theelongate channel 7442 to cam or pivot the elongate channel 7442 awayfrom the anvil 7412. Each tab rides up the cam 7449 onto the top surfacetop surface 7580 and serves to positively retain the elongate channel7442 in that fully open position. See FIG. 84 .

FIGS. 85-87 illustrate another surgical end effector 8400 that comprisestwo jaws 8410, 8440 that are simultaneously movable between open andclosed positions relative to the shaft axis SA-SA. In the illustratedexample, the first jaw 8410 comprises an anvil 8412. The illustratedanvil 8412 has an anvil body 8414 that has a proximal end portion 8416that movably interfaces with an end effector adapter 8600. As can beseen in FIG. 85 , the end effector adapter 8600 includes two distallyextending distal walls 8602 that each has a lateral pivot pin 8604protruding laterally therefrom. Each lateral pivot pin 8604 is receivedin a corresponding open ended U-shaped slot 8418 formed in the lateralside walls 8417 of the proximal end portion 8416 of the anvil 8412. SeeFIG. 85 . Such arrangement permits the elongate channel 8412 to move orpivot relative to the end effector adapter 8600. As can be further seenin FIG. 85 , the end effector adapter 8600 is non-movably attached toand end effector mounting assembly 8430. For example, the end effectoradapter 8600 further includes two upstanding lateral walls 8606 thateach has a mounting hole 8608 therein. The end effector mountingassembly 8430 is received between the upstanding lateral walls 8606 andis non-movably attached thereto by a spring pin 8421 that extendstherethrough into holes 8608. The effector mounting assembly 8430 isadapted to be pivotally mounted to, for example, a distal shaft framethat includes a pivot pin that is configured to be rotatably receivedwithin the mounting hole 8432 in the end effector mounting assembly8430. The surgical end effector 8400 may be articulated by anarticulation lock and first and second articulation rod arrangements ofthe type described above or by any of the various articulation systemsand articulation rod and/or rod/cable arrangements described hereinwithout departing from the spirit and scope of the present invention. Ascan also be seen in FIG. 85 , the anvil body 8414 also includes anelongate slot 8422 with two staple forming surfaces 8424 formed on eachside thereof.

The surgical end effector 8400 further includes a second jaw 8440 thatcomprises an elongate channel 8442 that is configured to support asurgical staple cartridge 8450 therein. As in the various surgicalstaple cartridges discussed above, the surgical staple cartridge 8450 isconfigured to operably support a plurality of staple drivers (not shown)therein that operably support surgical staples (not shown) thereon. Thestaple drivers are movably supported within corresponding driver pockets8452 formed in the surgical staple cartridge 8450. The staple driversare arranged in rows on each side of an elongate slot 8454 in thesurgical staple cartridge 8450 to accommodate the axial passage of afiring member 8460 therethrough. A cartridge pan 8451 is attached to thestaple cartridge 8450 to prevent the staple drivers from falling out oftheir respective driver pockets 8452 when the surgical end effector 8400is manipulated into various orientations. A wedge sled 8462 is movablysupported within the surgical staple cartridge 8450 and is configured tobe drivingly engaged by the firing member 8460 as the firing member 8460is driven from a starting position adjacent to the proximal end of thesurgical staple cartridge 8450 and an ending position within a distalportion of the surgical staple cartridge 8450. As was discussed above,as the wedge sled 8462 is driven in the distal direction through thesurgical staple cartridge 8450, the wedge sled 8462 drivingly contactsthe staple drivers to drive them toward the cartridge deck surface (notshown). The firing member 8460 includes a tissue cutting surface 8464that serves to cut the tissue clamped between the jaws 8410, 8440 as thefiring member 8460 is driven distally. A distal firing beam 280 or ofthe other various types described herein is operably attached to thefiring member 8460 as well as to an intermediate firing shaft portion2222 or other firing system arrangement. Operation of the intermediatefiring shaft portion 2222 to drive and retract the distal firing beam280 was discussed in detail above and will not be repeated for the sakeof brevity. Other firing beam and firing system arrangements(motor-powered as well as manually-powered) may also be employed topower the firing member without departing from the spirit and scope ofthe present invention. A first jaw cover 8415 is removably attached tothe anvil 8412 and a second jaw cover 8441 is removably attached to thesecond jaw 8440 for assembly purposes as well as to prevent theinfiltration of tissue and/or body fluid into the first and second jawswhich may hamper or interfere with operation of the firing member 8460.

As can be seen in FIG. 85 , the elongate channel 8442 includes aproximal end portion 8444 that has two lateral side portions 8445. Eachlateral side portion 8445 has a corresponding U-shaped or open endedslot 8446 therein that is adapted to receive a corresponding t lateralpivot pin 8604 that protrudes laterally from the end effector adapter8600. Such arrangement serves to movably or pivotally journal the secondjaw 8440 or elongate channel 8442 to the first jaw 8410 or anvil 8412.As can also be seen in FIG. 85 , closure ramp segments 8447 are formedon the proximal end 8444 of the elongate channel 8442. In addition, eachlateral side 8445 of the proximal end portion 8444 has a second lateralrecessed area 8448 formed therein. Each second lateral recessed area8448 is located proximal to a corresponding second closure ramp segment8447. A second opening ramp or cam 8449 is formed adjacent the proximalend of each second lateral recessed area 8448. Each second opening rampor cam 8449 terminates in a second top surface 8450. Similarly, a firstrecessed area 8420 is formed on the bottom of each of the side walls8417 of the proximal end portion 8416 of the anvil 8412. A first openingramp or cam 8426 is formed adjacent the proximal end of each firstlateral recessed area 8420. Each first opening ramp or cam 8426terminates in a first top surface 8428.

The second jaw 8440 or elongate channel 8442 and the first jaw 8410 oranvil 8412 may be simultaneously moved between open and closed positionsby a closure system of the various types disclosed herein. For example,a closure drive system 30 may be employed to actuate a closure sleeve260 in the manner described herein. The closure sleeve 260 may also beattached to an end effector closure sleeve 8572 that may be pivotallyattached to the closure sleeve 260 by a double pivot arrangement in themanner described above. As was described above, for example, axialmovement of the closure sleeve 260 may be controlled through actuationof a closure trigger 32. In other arrangements, the closure sleeve maybe axially moved by means of a robotic control system, etc. As can beseen in FIGS. 86 and 87 , the end effector closure sleeve 8572 extendsover the end effector mounting assembly 8430, the end effector adapter8600 as well as the proximal end portion 8444 of the elongate channel8442 of the second jaw 8440 and the proximal end portion 8416 of thefirst jaw 8410 or anvil 8412. The end effector closure sleeve 8572includes two diametrically opposed, first opening members 8574 that areconfigured to operably engage the proximal end portion 8416 of the firstjaw 8410. In the illustrated embodiment, the first opening members 8574comprise inwardly extending first opening tabs 8576 that are formed inportions of the end effector closure sleeve 8572. Likewise, the endeffector closure sleeve 8572 further includes two diametrically opposed,second opening members 8580 that are configured to operably engage theproximal end portion 8444 of the second jaw 8440. In the illustratedembodiment, the second opening members 8580 comprise inwardly extendingsecond opening tabs 8582 that are formed in portions of the end effectorclosure sleeve 8572.

The first and second jaws, 8410, 8440 are simultaneously moved to aclosed position (FIG. 86 ) by advancing the end effector closure sleeve8572 in the distal direction DD. As the end effector closure sleeve 8572moves distally, the distal end 8575 thereof contacts the bottom of theproximal end portion 8416 of the first jaw 8410 or anvil 8412 as well asthe closure ramp segments 8447 that are formed on the proximal end 8444of the elongate channel 8442 and serves to cam the first and second jaws8410, 8440 towards each other. Once the end effector closure sleeve 8572has been moved to its distal-most position, the distal end 8575 of theend effector closure sleeve 8572 contacts first abutment surfaces 8419on the first jaw 8410 or anvil 8412 as well as a second abutment surface8443 on the second jaw 8440 or elongate channel 8442 to maintain theclosure load or closing force on both of the jaws 8410, 8440. See FIG.86 . When the end effector closure sleeve 8572 is in the fully-closedposition, the ends of the first opening tabs 8576 are received in thecorresponding first lateral recesses areas 8420 and the ends of thesecond opening tabs 8582 are received in the corresponding secondlateral recess areas 8448. To move the first and second jaws 8410, 8440away from each other to open positions, the closure system is actuatedto move the closure sleeve 8572 in the proximal direction PD. As the endeffector closure sleeve 8572 moves proximally, the first opening tabs8576 ride up the corresponding first opening ramp or cam 8426 on thebottom of the proximal end portion 8416 of the first jaw 8410 to cam orpivot the first jaw 8410 or anvil 8412 in a direction away from thesecond jaw 8440 or elongate channel 8442 and the second opening tabs8582 ride up the corresponding second ramps 8449 on the proximal endportion 8444 of the elongate channel 8442 to cam or pivot the elongatechannel 8442 in a direction away from the first jaw or anvil 8412. Eachof the first tabs 8576 rides up the corresponding cam or ramp 8426 ontothe corresponding first locking surface 8428 and each of the second tabs8582 rides up the corresponding second cam or ramp 8449 onto thecorresponding second locking surface 8450 to thereby retain the firstand second jaws 8410, 8400 in the open position. The reader willappreciate that the axial position of the first tabs 8576 relative tothe second tabs 8582 may be positioned so as to simultaneously move thefirst and second jaws away from each other or they may be axially offsetso that one of the jaws moves before the other jaw moves.

FIGS. 88-93 illustrate portions of another surgical instrument 9010 thatincludes a surgical end effector 9300 that operably interfaces with anelongate shaft assembly 9200. The surgical end effector 9300 is similarto surgical end effector 300 that was discussed in detail above andincludes a first jaw in the form of an elongate channel 9302 that isconfigured to operably support a surgical staple cartridge 304 therein.The illustrated surgical end effector 9300 further includes a second jawin the form of an anvil 310 that is supported on the elongate channel9302 for movement relative thereto. The anvil 310 may be movablyactuated by the closure system described above and shown in FIGS. 88 and91 . For example, a first closure drive system may be employed toactuate a closure sleeve 260 in the manner described herein. The closuresleeve 260 is attached to an end effector closure sleeve 272 that ispivotally attached to the closure sleeve 260 by a double pivot closuresleeve assembly 271 in the manner described above. As was describedabove, for example, axial movement of the closure sleeve 260 may becontrolled through actuation of a closure trigger. As was also describedabove, the closure sleeve 272 incudes opening cams that serve to movablyactuate the anvil 310 to an open position. In use, the closure sleeve260 is translated distally (direction DD) to close the anvil 310, forexample, in response to the actuation of the closure trigger. The anvil310 is closed by distally translating the closure sleeve 260 in thedistal direction DD and as well as the end effector closure sleeve 272that is pivotally coupled thereto. As the end effector closure sleeve272 is driven distally, the cam tabs 358 of the opening cams 354 movedistally within the cam slots 318 in the anvil 310 to operably interfaceor ride on the cam surfaces 319 to cam the body portion 312 of the anvil310 away from the surgical staple cartridge 304 into an open position.The anvil 310 is closed by distally translating the closure sleeve 260in the distal direction DD until the distal end 275 of the end effectorclosure sleeve 272 rides up the anvil attachment arms 316 to contact thewhich causes the cam tabs 358 to move in the proximal direction PDwithin the cam slots 318 on the cam surfaces 319 to pivot the anvil 310into the open position.

As can be seen in FIG. 91 for example, the elongate shaft assembly 9200includes a two piece shaft frame or spine assembly 9812 upon which theclosure sleeve assembly 260 is received. The spine assembly 9812includes a proximal spine portion 9814 and a distal spine portion 9816.The proximal spine portion 9816 may be rotatably journaled in the handleor housing (not shown) in the various manners described herein tofacilitate rotation of the surgical end effector 9300 about the shaftaxis SA. Although not shown, the surgical instrument 9010 may alsoinclude a firing beam arrangement and any of the various firing drivesystem arrangements disclosed herein for driving a firing member throughthe surgical staple cartridge in the various manners discussed above. Ascan be seen in FIG. 91 , the distal spine portion 9816 includes a distalend portion 9818 that has an upwardly protruding pivot pin 9819 thereonthat is adapted to be pivotally received within a pivot hole 9328 formedin the proximal end portion 9320 of the elongate channel 9302. Sucharrangement facilitates pivotal travel of the elongate channel 9302 ofthe surgical end effector 9300 relative to the spine assembly 9812 aboutan articulation axis B-B that is defined by the pivot hole 9328. Asindicated above, the articulation axis B-B is transverse to the shaftaxis SA-SA that is defined by elongate shaft assembly 9200.

Still referring to FIG. 91 , the elongate shaft assembly 9200 furtherincludes an articulation system, generally designated as 9900 thatincludes a first articulation bar 9910 and a second articulation bar9920. The first articulation bar 9910 operably interfaces with a firstarticulation motor 9912 that is operably supported in the surgicalinstrument handle or housing or portion of a robotically controlledsystem. As can be seen in FIGS. 92 and 93 , the first articulation bar9910 is attached to a first articulation nut 9914 that is threadablyreceived on a first threaded drive shaft 9916 of the first articulationmotor 9912. Rotation of the first threaded drive shaft 9916 in a firstrotary direction will result in the distal advancement of the firstarticulation bar 9910 in the distal direction DD and rotation of thefirst threaded drive shaft 9916 in a second or opposite rotary directionwill result in the proximal advancement of the first articulation drivebar 9910 in the proximal direction PD.

The illustrated articulation system 9900 further includes a secondarticulation bar 9920 that operably interfaces with a secondarticulation motor 9922 that is operably supported in the surgicalinstrument handle or housing or portion of a robotically controlledsystem. As can be seen in FIGS. 92 and 93 , the second articulation bar9920 is attached to a second articulation nut 9924 that is threadablyreceived on a second threaded drive shaft 9926 of the secondarticulation motor 9922. Rotation of the second threaded drive shaft9926 in a first rotary direction will result in the proximal advancementof the second articulation bar 9920 in the proximal direction PD androtation of the second threaded drive shaft 9926 in a second or oppositerotary direction will result in the distal advancement of the secondarticulation drive bar 9920 in the distal direction DD.

The articulation system 9900 further includes a cross-linkage assembly9940 that is operably attached to the first and second articulation bars9910, 9920. As can be seen in FIG. 91 , the cross-linkage assembly 9940includes a middle support member 9950 that is pivotally pinned to theproximal end 9320 of the elongate channel 9302 with a first pin 9952.The middle support member 9950 further includes a proximal connector tab9954 that includes a slot 9956 for receiving a second pin 9958 thereinfor pivotally attaching the proximal connector tab 9954 to the distalend portion 9818 of the distal spine portion 9816. The pin and slotarrangement facilitate pivotal and axial travel of the middle supportmember 9950 relative to the spine assembly 9812. The middle supportmember 9950 further includes a slot 9960 for receiving a firing beamtherethrough. The middle support member 9950 serves to provide lateralsupport to the firing beam as it flexes to accommodate articulation ofthe surgical end effector 9300.

As can be most particularly seen in FIGS. 92 and 93 , the middle supportmember 9950 has a proximal linkage tab portion 9970 that facilitatesattachment of the first and second articulation bars 9910, 9920 thereto.In particular, a distal end 9911 of the first articulation bar 9910 ispivotally attached to a first articulation link 9972 that is pivotallypinned to the proximal linkage tab portion 9970. Likewise, a distal end9921 of the second articulation bar 9920 is pivotally pinned to a secondarticulation link 9974 that is pivotally pinned to the proximal linkagetab portion 9970 of the middle support member 9950. FIG. 92 illustratesarticulation of the surgical end effector 9300 in the directionrepresented by arrow 9980. As can be seen in that Figure, the firstthreaded drive shaft 9916 of the first articulation motor is rotated ina first rotary direction to drive the first articulation bar 9910 in thedistal direction. In addition, the second threaded drive shaft 9926 ofthe second articulation motor 9922 is rotated in a second rotarydirection to draw the second articulation bar 9920 in the proximaldirection. The first and second articulation motors 9912, 9922 areoperated by a computer controlled system and, as can be seen in FIG. 92, the distance that first articulation bar 9910 moves in the distaldirection is not equal to the distance in which the second articulationbar 9920 moves in the proximal direction.

FIG. 93 illustrates articulation of the surgical end effector 9300 inthe direction represented by arrow 9982. As can be seen in that Figure,the second threaded drive shaft 9926 of the second articulation motor9922 is rotated in a first rotary direction to drive the secondarticulation bar 9920 in the distal direction. In addition, the firstthreaded drive shaft 9916 of the first articulation motor 9912 isrotated in a second rotary direction to draw the first articulation bar9910 in the proximal direction. The first and second articulation motors9912, 9922 are operated by a computer controlled system and, as can beseen in FIG. 92 , the distance that second articulation bar 9920 movesin the distal direction is not equal to the distance in which the firstarticulation bar 9910 moves in the proximal direction. In alternativearrangements, only one articulation motor may be employed to articulatethe end effector. In such arrangements, for example, the second link maybe proximally coupled to the first link by means of a rack and pinionarrangement similar to those rack and pinion arrangements disclosed indetail herein.

FIGS. 94 and 95 illustrate surgical staple cartridges 9304 and 9304′that each include a light member 9305 for illuminating the distal end ofthe surgical end effector in which it is supported. Each of the staplecartridges 9304, 9304′ may have conductors (not shown) that are arrangedon the bottom of the cartridge or on the cartridge sides that areconfigured to electrically contact corresponding conductors in theelongate channel that communicate with a source of electrical energylocated in the instrument handle or housing. Thus, when the cartridge9304, 9304′ are properly seated in the elongate channel of the surgicalend effector, the light 9305 therein may receive power from the sourceof electrical power in the handle or housing through the correspondingconductors.

FIGS. 96-105 illustrate portions of another surgical instrument 10010that includes a surgical end effector 10300 that operably interfaceswith an elongate shaft assembly 10200 that employs many of the featuresof the various shaft assemblies disclosed herein. The surgical endeffector 10300 may essentially comprise any of the various end effectorsdescribed herein or it may comprise other forms of surgical endeffectors that are configured to perform other surgicalactions/procedures. In the illustrated arrangement, for example, thesurgical end effector 10300 is adapted to cut and staple tissue andincludes a first jaw in the form of an elongate channel 10302 that isconfigured to operably support a surgical staple cartridge 10304therein. See FIGS. 96 and 97 . The illustrated surgical end effector10300 further includes a second jaw in the form of an anvil 10310 thatis supported on the elongate channel 10302 for movement relativethereto. See FIG. 96 . The anvil 10310 may be movably actuated by one ofthe closure drive systems described herein. For example, a first closuredrive system may be employed to actuate a closure sleeve 260 in themanner described herein. The closure sleeve 260 is attached to an endeffector closure sleeve 272 that is pivotally attached to the closuresleeve 260 by a double pivot closure sleeve assembly 271 in any of themanners described herein. As was described above, for example, axialmovement of the closure sleeve 260 may be controlled through actuationof a closure trigger. As the end effector closure sleeve 272 is advancedin the distal direction D-D, the anvil 10310 is cammed closed. In atleast one arrangement, a spring (not shown) may be employed to pivot theanvil 10310 to an open position when the end effector closure sleeve 272is retracted back to a starting position.

As can be seen in FIGS. 96-105 , the surgical end effector 10300 may bearticulated relative to the elongate shaft assembly 10200 about anarticulation joint 10270. In the illustrated example, the elongate shaftassembly 10200 includes articulation system designated as 10800 thatemploys an articulation lock 10810 that is similar to articulation locks350 and 810 described above. See FIG. 97 . Those components ofarticulation lock 10810 that differ from the components of articulationlock 810 and/or articulation lock 350 for example and which may benecessary to understand the operation of articulation lock 10810 will bediscussed in further detail below. As noted above, further detailsregarding articulation lock 350 may be found in U.S. patent applicationSer. No. 13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING AN ARTICULATION LOCK, now U.S. Patent Application PublicationNo. 2014/0263541, the entire disclosure of which was incorporated byreference herein. The articulation lock 10810 can be configured andoperated to selectively lock the surgical end effector 10300 in variousarticulated positions. Such arrangement enables the surgical endeffector 10300 to be rotated, or articulated, relative to the shaftclosure sleeve 260 when the articulation lock 10810 is in its unlockedstate.

Referring specifically to FIGS. 96 and 97 , the elongate shaft assembly10200 includes a spine 210 that is configured to, one, slidably supporta firing member 220 therein and, two, slidably support the closuresleeve 260 which extends around the spine 210. The spine 210 alsoslidably supports a proximal articulation driver 230. The proximalarticulation driver 230 has a distal end 231 that is configured tooperably engage the articulation lock 10810. The articulation lock 10810further comprises a shaft frame 10812 that is attached to the spine 210in the various manners disclosed herein. As shown in FIG. 97 , the shaftframe 10812 is configured to movably support a proximal portion 10821 ofa distal articulation driver 10820 therein. The distal articulationdriver 10820 is movably supported within the elongate shaft assembly10200 for selective longitudinal travel in a distal direction DD and aproximal direction PD in response to articulation control motionsapplied thereto.

One feature that many clinicians may be concerned with during theperformance of a surgical procedure is the net length of thearticulatable end effector from its pivot point. This dimension impactsupon the amount of access that the end effector can achieve in theconfined space within the patient. The surgical instrument 10010 may beconfigured to address this issue. In the illustrated arrangement, forexample, the shaft frame 10812 includes a distal end portion 10814 thathas a pivot pin 10818 formed thereon. The pivot pin 10818 is adapted tobe pivotally received within a slot 10395 formed in an end effectormounting assembly 10390 that is attached to the proximal end 10303 ofthe elongate channel 10302 by a spring pin 10393 or other suitablemember. The pivot pin 10818 defines an articulation axis B-B that istransverse to the shaft axis SA-SA. Such arrangement facilitates pivotaltravel (i.e., articulation) of the end effector 10300 about thearticulation axis B-B relative to the shaft frame 10812 as well as axialor translational travel of the elongate channel 10302 relative to apoint of reference one shaft frame 10812, for example the articulationaxis B-B. As can be seen in FIGS. 99 and 100 , the articulation system10800 further includes an articulation drive gear 10840 that isrotatably supported on a shaft 10842 that is formed on or otherwiseattached to the shaft frame 10812. As can be further seen in FIGS. 99and 100 , the end effector mounting assembly 10390 has an articulationgear profile 10396 formed thereon that is configured for meshingengagement with the articulation drive gear 10840. As can be mostparticularly seen in FIGS. 97 and 101-103 , a drive pin 10844 protrudesfrom the articulation drive gear 10840. The drive pin 10844 is receivedwithin a slot 10822 in the distal articulation driver 10820. Thus,movement of the distal articulation driver 10820 in the proximaldirection PD (in the various manners discussed herein) will cause thearticulation drive gear 10840 to rotate in the counter clockwisedirection (arrow CCW in FIG. 103 ) which, in turn, will articulate thesurgical end effector 10300 in the direction represented by arrow 10848.Likewise, movement of the distal articulation driver 10820 in the distaldirection DD will cause the articulation drive gear 10840 to rotate inthe clockwise direction (arrow CW in FIG. 102 ) which will articulatethe surgical end effector 10300 in the direction represented by arrow10849.

Still referring to FIGS. 99-105 , in at least one arrangement, thearticulation gear profile 10396 is elliptical in shape. The ellipticalconfiguration of the articulation gear profile 10396, in connection withthe slot 10395, allows for the end effector 10300 to translate (or moveaxially) as it is being rotated or articulated. The eccentricity of theelliptical articulation gear profile 10396 allows for the“center-to-center” distance between the articulation drive gear 10840and the gear profile 10396 to be reduced and then converts thatreduction into translation of the end effector 10300. FIGS. 101 and 103illustrate the surgical end effector 10300 in an unarticulated position.Stated another way, the end effector axis EA that is defined by theelongate channel 10302 is aligned with the shaft axis SA-SA. As used inthis context, the term “aligned with” may mean “coaxially aligned” withthe shaft axis SA-SA or simply parallel with the shaft axis SA-SA. Whenin that unarticulated position, the elongate channel 10302 occupies acertain amount of space (i.e., which may be referred to as a“footprint”). Stated another way, a distal end 10309 of the elongatechannel 10302 is located a first distance D1 (which may also be referredto herein as an “unarticulated distance”) from the articulation axis B-Bwhich is defined by the pin 10818. See FIG. 104 . When the surgical endeffector 10300 is articulated, the elongate channel 10302 translatesproximally (arrow TL in FIGS. 102 and 103 ) relative to the shaft frame10812 and more particularly relative to the articulation axis B-B sothat the distance D2 between the distal end 10309 of the elongatechannel 10302 and the articulation axis B-B (which may also be referredto herein as an “articulated distance”) is less than the distance D1.See FIG. 105 . This reduced overall length of the surgical end effector10300 allows for greater access when the end effector 10300 is in anarticulated position and will maintain the same net length whenstraight. Stated another way, as the end effector is articulated, thedistance between the first staples in the end effector and thearticulation axis will decrease to thereby reduce the end effector'sfootprint while being in an articulated configuration.

The surgical end effector 10300 of the embodiment illustrated in FIGS.96-105 comprises a surgical cutting and stapling device that employs afiring beam 220 of the various types and configurations describedherein. However, the surgical end effector 10300 of this embodiment maycomprise other forms of surgical end effectors that do not cut and/orstaple tissue. In the illustrated arrangement, a middle support member10950 is pivotally and slidably supported relative to the shaft frame10812. As can be seen in FIG. 98 , the middle support member 10950includes a slot 10952 that is adapted to receive therein a pin 10954that protrudes from or is attached to or is formed in the spine 210.Such arrangement enables the middle support member 10950 to pivot andtranslate relative to the pin 10954 when the surgical end effector 10300is articulated. The middle support member 10950 further includes a slot10960 for receiving a firing beam 220 therethrough. The middle supportmember 10950 serves to provide lateral support to the firing beam 220 asit flexes to accommodate articulation of the surgical end effector10300.

FIGS. 106-108 illustrate portions of another surgical instrument 11010that includes a surgical end effector 11300 that operably interfaceswith an elongate shaft assembly 11200 that may employ many of thefeatures of the various shaft assemblies disclosed herein. The surgicalend effector 11300 may essentially comprise any of the various endeffectors described herein or it may comprise other forms of surgicalend effectors that are configured to perform other surgicalactions/procedures. In the illustrated arrangement, for example, thesurgical end effector 11300 includes an elongate channel 11302 that maybe adapted to support a surgical staple cartridge therein, for example.The elongate shaft assembly 11200 may comprise a spine 11210 that ispivotally coupled to the elongate channel 11302 by an articulation joint11270. In the illustrated arrangement, the elongate channel 11302 of thesurgical end effector 11300 is coupled to the spine 11210 by anarticulation pin 11818 that is movably received in an elongatearticulation slot 11395 formed in the elongate channel 11302 or in anend effector mounting assembly (not shown). The pin and slot arrangementfacilitates pivotal and translational travel of the elongate channel11302 relative to spine 11210 of the elongate shaft assembly 11200. Thearticulation pin 11818 defines an articulation axis B-B that extendsthrough the center of the pin 11818 and would come out of the page inFIGS. 106-108 such that it its transverse to the shaft axis SA-SA. Thespine 11210 may otherwise be similar to spine 210 described above andsupport a firing member and closure sleeve arrangements as describedherein and which are not specifically illustrated in FIGS. 106-108 forthe purpose of clarity.

In the illustrated example, the elongate shaft assembly 11200 includesarticulation system designated as 11800 that may include an articulationlock that is similar to articulation locks 350, 810 and/or 10810described above and which may be actuated in any of the various mannersdescribed herein. The articulation system 11800 includes a distalarticulation driver 11820 that may comprise a portion of thearticulation lock (not shown) or may otherwise simply interface with anarticulation control system that is constructed to selective move thedistal articulation driver 11820 in distal and proximal directions toarticulate the surgical end effector 11300. The articulation system11800 further includes a central articulation link 11900 that isrotatably journaled on the articulation pin 11818 for rotation about thearticulation axis B-B. In the illustrated arrangement, the centralarticulation link 11900 has a triangular shape that defines three endportions 11902, 11904, 11906. The articulation system 11800 in theillustrated embodiment further includes a driver link 11910 that ispivotally coupled to an end of the distal articulation driver 11820 aswell as to end 11902 of the central articulation link 11900. As will bediscussed in further detail below, movement of the distal articulationdriver 11820 in the proximal and distal directions will cause thecentral articulation link 11900 to rotate or pivot about thearticulation axis B-B.

The articulation system 11800 further includes an end effector driverlink 11920 that has a first end 11922 that is pivotally coupled to theelongate channel 11302. A second end 11924 of the end effector driverlink 11920 is pivotally coupled to the end 11904 of the centralarticulation link 11900. The point at which the driver link 11910 isattached to the central articulation link 11900 and the point at whichthe second end 11924 of the end effector driver link 11920 is attachedto the central articulation link 11900 may lie along a common axis OAS,but that axis is offset from the articulation axis B-B. See FIG. 106 .The second end 11924 of the end effector driver link 11920 has a gearprofile 11926 thereon that is configured for meshing engagement with acentral articulation gear 11930 that is rotatably journaled on thearticulation pin 11818. When the distal articulation driver 11820 ismoved in the distal direction DD, central articulation link 11900 movesthe second end 11924 of the end effector driver link 11920 in aclockwise direction CW while maintaining in meshing engagement with thecentral articulation gear 11930. Movement of the articulation driverlink 11920 in the clockwise direction also moves the surgical endeffector 11300 in the clockwise direction about the articulation axisB-B relative to the elongate shaft assembly 11200. See FIG. 107 .Similarly, movement of the distal articulation driver 11820 in theproximal direction will move the central articulation link 11900 in thecounter clockwise CCW direction. Such movement of the centralarticulation link 11900 also causes the second end 11924 to move in thecounterclockwise direction CCW while maintaining in meshing engagementwith the central articulation gear 11930. Movement of the articulationdriver link 11920 in the counterclockwise direction causes the surgicalend effector 11300 to pivot about the articulation axis B-B in thecounterclockwise direction relative to the elongate shaft assembly11200. See FIG. 108 .

FIG. 106 illustrates the surgical end effector 11300 in an unarticulatedposition relative to the elongate shaft assembly 11200. When in thatunarticulated position, the end effector axis EA of the elongate channel11302 is essentially aligned with the shaft axis SA-SA. Stated anotherway, the end effector axis EA defined by the elongate channel 10302 isaligned with the shaft axis SA-SA. As used in this context, the term“aligned with” may mean “coaxially aligned” with the shaft axis SA-SA orsimply parallel with the shaft axis SA-SA. FIG. 107 illustrates theposition of the surgical end effector 11300 after it has been moved inthe clockwise direction to a fully articulated position relative to theelongate shaft assembly 11200 wherein an angle 11950 between the endeffector axis EA and the shaft axis SA-SA is approximately ninetydegrees (90°). FIG. 108 illustrates the position of the surgical endeffector 11300 after it has been moved in the counterclockwise directionto a fully articulated position relative to the elongate shaft assembly11200 wherein an angle 11950 between the end effector axis EA and theshaft axis SA-SA is approximately ninety degrees (90°). As can also beseen in FIGS. 107 and 108 , the distal end 11201 of the elongate shaftassembly 11200 is notched on both sides of the shaft axis SA to permitthe elongate channel 11302 to translate in a direction toward the shaftaxis SA-SA (represented by arrows TD in FIGS. 107 and 108 ) toeffectively shorten the distance between the distal end of the elongatechannel 11302 and the articulation axis B-B. Such arrangement mayrepresent a vast improvement over prior articulation joint arrangementsthat cannot afford articulation of the end effector to positions thatare ninety degrees (90°) relative to the shaft axis (through a 180degree path that is transverse to the shaft axis. This embodiment alsoeffectively reduces the footprint of the end effector when articulatedby allowing the end effector to translate toward the shaft axis whilebeing articulated.

Referring to FIG. 106 , it can be observed that the driver link 11910 iscoupled to the first end of the central articulation link 11900 at alocation located on one side of the shaft axis and the second end 11924of the end effector driver link 11920 is attached to end 11904 of thecentral articulation link 11900 at a location that is on the oppositeside of the shaft axis when the end effector 11300 is in theunarticulated position. The central articulation gear arrangement servesto minimize the backlash and serves to transmit such forces into thearticulation pin 11818 which may increase the overall strength of thearticulation joint when compared to other articulation jointarrangements of similar sizes. The ability to articulate the surgicalend effector relative to the shaft to which it is attached at relativehigh angles is often desirable when performing various surgicalprocedures where transections need to happen in a constrained space andaccess to targeted soft tissue can be difficult such as in the thoraciccavity or the pelvic bowl. Prior end effectors suffer from the inabilityto articulate to angles that are greater than forty-five degrees (45°)relative to the shaft axis. The above-described embodiment may overcomethese deficiencies.

FIGS. 109-111 illustrate portions of another surgical instrument 12010that includes a surgical end effector 12300 that operably interfaceswith an elongate shaft assembly 12200 that may employ many of thefeatures of the various shaft assemblies disclosed herein. The surgicalend effector 12300 may essentially comprise any of the various endeffectors described herein or it may comprise other forms of surgicalend effectors that are configured to perform other surgicalactions/procedures. In the illustrated arrangement, for example, thesurgical end effector 12300 includes an elongate channel 12302 that maybe adapted to support a surgical staple cartridge therein, for example.The elongate shaft assembly 12200 may comprise a spine 12210 that ispivotally coupled to the elongate channel 12302 by an articulation joint12270. In the illustrated arrangement, the elongate channel 12302 of thesurgical end effector 12300 is configured to extend into a distal endportion 12213 of the spine 12210 and is operably coupled thereto by anarticulation system 12800.

In the illustrated example, the articulation system 12800 includes adistal articulation driver 12820 that is pivotally coupled to the spine12210 and the elongate channel 12302. As can be seen in FIG. 109 , thedistal articulation driver 12820 is configured to movably extend on afirst side of the shaft axis SA-SA. In addition, articulation system12800 further includes a second articulation link 12900 that is attachedto the spine 12210 on a second side of the shaft axis SA. When thedistal articulation driver 12820 is moved in the distal direction DD,the elongate channel 12302 is moved in the clockwise direction CW.During such articulation, the proximal end 12303 of the elongate channel12302 translates in the direction represented by arrow TD to reduce theend effector footprint. See FIG. 110 . Similarly, when the distalarticulation driver 12820 is moved in the proximal direction PD, theelongate channel 12302 is pivoted in a counterclockwise CCW direction.During such articulation, the proximal end of the elongate channel 12302translates in the direction represented by the arrow TD to reduce theend effector footprint during articulation.

FIG. 109 illustrates the surgical end effector 12300 in an unarticulatedposition relative to the elongate shaft assembly 12200. When in thatunarticulated position, the end effector axis EA of the elongate channel12302 is essentially aligned with the shaft axis SA-SA. Stated anotherway, the end effector axis EA defined by the elongate channel 10302 isaligned with the shaft axis SA-SA. As used in this context, the term“aligned with” may mean “coaxially aligned” with the shaft axis SA orsimply parallel with the shaft axis SA-SA. FIG. 110 illustrates theposition of the surgical end effector 12300 after it has been moved inthe clockwise CW direction to a fully articulated position relative tothe elongate shaft assembly 12200. FIG. 111 illustrates the position ofthe surgical end effector 12300 after it has been moved in thecounterclockwise direction to a fully articulated position relative tothe elongate shaft assembly 12200.

The ability to articulate the surgical end effector relative to theshaft to which it is attached at relative high angles is often desirablewhen performing various surgical procedures where transections need tohappen in a constrained space and access to targeted soft tissue can bedifficult such as in the thoracic cavity or the pelvic bowl. However, inprior end effectors, the larger articulation angles typically results ina larger moment around the articulation system that may more easily bendor break the mechanism. The embodiment depicted in FIGS. 112-114includes features that may address those shortcomings of priorarticulatable end effectors. FIGS. 112-114 illustrate portions ofanother surgical instrument 13010 that includes a surgical end effector13300 that operably interfaces with an elongate shaft assembly 13200that may employ many of the features of the various shaft assembliesdisclosed herein. The elongate shaft assembly 13200 defines a shaft axisSA-SA. In addition, the surgical end effector 13300 may essentiallycomprise any of the various end effectors described herein or it maycomprise other forms of surgical end effectors that are configured toperform other surgical actions/procedures. In the illustratedarrangement, for example, the surgical end effector 13300 includes anelongate channel 13302 that may be adapted to support a surgical staplecartridge therein, for example. The elongate channel 13302 defines anend effector axis EA. The elongate shaft assembly 13200 may comprise aspine 13210 that is pivotally coupled to the elongate channel 13302 byan articulation joint 13270. In the illustrated arrangement, theelongate channel 13302 of the surgical end effector 13300 is coupled tothe spine 13210 by an articulation pin 13818 that defines anarticulation axis B-B that that is transverse to the shaft axis SA-SA.In FIGS. 112-114 , the articulation axis B-B may coincide with thecenter axis of the articulation pin 13818, for example, and wouldessentially protrude out of the page in each of those Figures. The spine13210 may otherwise be similar to spine 210 described above and supporta firing member and closure sleeve arrangements as described herein andwhich are not specifically illustrated in FIGS. 112-114 for the purposeof clarity.

In the illustrated example, the elongate shaft assembly 13200 includesarticulation system designated as 13800 that may include an articulationlock that is similar to articulation locks 350, 810 and/or 10810described above and which may be actuated in any of the various mannersdescribed herein. The articulation system 13800 includes a distalarticulation driver 13820 that may comprise a portion of an articulationlock (not shown) or may otherwise simply interface with an articulationcontrol system that is constructed to selectively move the distalarticulation driver 13820 in distal and proximal directions toarticulate the surgical end effector 13300 about the articulation axisB-B. The articulation system 13800 further includes a centralarticulation link 13900 that is rotatably journaled on the articulationpin 13818 for rotation about the articulation axis B-B relative to adistal end of the elongate shaft assembly 13200. In the illustratedarrangement, the central articulation link 13900 has a triangular shapeand defines three end portions 13902, 13904, 13906. The articulationsystem 13800 in the illustrated embodiment further includes anintermediate driver link 13910 that is pivotally coupled to an end ofthe distal articulation driver 13820 as well as to end 13902 of thecentral articulation link 13900. As will be discussed in further detailbelow, movement of the distal articulation driver 13820 in the proximaland distal directions will cause the central articulation link 13900 torotate about the articulation axis B-B.

The articulation system 13800 further includes an end effector driverlink 13920 that has a first or distal driver link end 13922 that has aslot 13923 therein. An end effector attachment member or pin 13960 isattached to the end effector 13300 and is received in the slot 13923.Such arrangement facilitates pivotal and translatable or axial travel(represented by arrow AT) of the pin 13960 within the slot 13923. Asecond or proximal driver link end 13924 of the end effector driver link13920 is pivotally coupled to the end 13904 of the central articulationlink 13900. The point at which the intermediate driver link 13910 isattached to the central articulation link 13900 and the point at whichthe second end 13924 of the end effector driver link 13920 is attachedto the central articulation link 13900 may lie along a common axis OAS,but that axis is offset from the articulation axis B-B. See FIG. 112 .The second end 13924 of the end effector driver link 13920 has a gearprofile 13926 thereon that is configured for meshing engagement with agear profile 13930 formed on or otherwise attached to the spine 13210.When the distal articulation driver 13820 is moved in the proximaldirection PD, central articulation link 13900 causes the end effector13300 to move in a counterclockwise direction CCW about the articulationaxis B-B relative to the distal end of the elongate shaft assembly13200. During such movement, the second end 11924 of the end effectordriver link 13920 remains in meshing engagement with the gear profile13930. Depending upon the amount of proximal travel of the distalarticulation driver 13820, the surgical end effector 13300 may bepivoted to the articulation position shown in FIG. 113 wherein the endeffector axis EA is perpendicular to the shaft axis SA-SA (representedby angle 13950 in FIG. 113 ). Similarly, movement of the distalarticulation driver 11820 in the distal direction DD will cause the endeffector 13300 to move in a clockwise direction CW about thearticulation axis B-B relative to the distal end of the elongate shaftassembly 13200. During such movement, the second end 11924 of the endeffector driver link 13920 remains in meshing engagement with the gearprofile 13930. Depending upon the amount of distal travel of the distalarticulation driver 13820, the surgical end effector 13300 may bepivoted to the articulation position shown in FIG. 114 wherein the endeffector axis EA is perpendicular to the shaft axis SA-SA (representedby angle 13952 in FIG. 114 ).

As can be seen in FIG. 112 , when in an unarticulated position, the endeffector axis EA is in axial alignment with the shaft axis SA. Inaddition, as can be further seen in FIGS. 112-114 , the distalarticulation driver 13820, as well as the intermediate driver 13910, areeach supported for selective longitudinal travel along one lateral sideof the shaft axis SA and the end effector attachment pin 13960 islocated on a secondary lateral side of the end effector axis EA thatcorresponds to a second lateral side of the shaft axis SA. Alternativeembodiments may employ other means for applying an articulation controlmotion to the central articulation link 13900. For example, a cablearrangement may be directly attached to the central articulation link inplace of the distal articulation driver 13820 and 13910. In sucharrangement, the central articulation link would be pivoted when acorresponding articulation system located in the handle or housing ofthe instrument tensions or pulls the cable. In still other alternativeembodiments, the distal articulation driver 13820 is directly coupled tothe central articulation link 13900. In such arrangement, for example,the central articulation link 13900 may include a slot instead of a pinat this connection to enable rotation of the articulation axis B-B. Inyet another embodiment, the slot 13923 in the end effector drive link13920 may be replaced by a pin connection. To achieve articulation ofthe surgical end effector 13300 about articulation axis B-B, the gearprofile 13926 on the end effector driver link 13920 is cam shaped so asto maintain meshing engagement with the gear profile 13390 formed on orotherwise attached to the spine 13210.

The embodiment of FIGS. 112-114 is more robust than prior arrangementsand provides a greater range of articulation when compared to jointarrangements that cannot accommodate articulation of the end effector topositions that are ninety degrees (90°) relative to the shaft axis(through a 180 degree path that is transverse to the shaft axis). Thisembodiment may also effectively reduce the footprint of the end effectorwhen articulated by allowing the end effector to translate toward theshaft axis while being articulated. This greater range of articulationmay also be attained with articulation driver stroke lengths that aregenerally less than the stroke lengths that are normally required toarticulate prior articulation joint arrangements. The triangular-shapedcentral articulation link may also provide several advantages. Thetriangular (three-point) central articulation link connects the distalarticulation driver (through the intermediate drive link), thearticulation pin and the end effector driver link together. Thistriangular shaped central link may provide improved resistance to forcesthat might cause the end effector to undesirably de-articulate. Suchtriangular link arrangement may also provide higher resistance tobending forces that may be encountered by the articulation driver rod.Further, such arrangement may also experience reduced backlash due tothe direct connection of the central articulation link to the spineportion of the elongate shaft assembly. In the above-describedarrangement, a planetary gear rotates around a stationary gear locatedon the distal end of the elongate shaft. A slotted driver arm extendsoff the planetary gear and creates a moment that articulates the endeffector at higher angles for less articulation driver stroke length.The slot allows for a second center of rotation for the end effector.The triangular central articulation link also reduces the buckling loador the articulation mechanism and backlash of the system. A largerplanetary gear results in more mechanical advantage, but lessarticulation and vice versa for a smaller planetary gear.

The ability to articulate the surgical end effector relative to theshaft to which it is attached at relative high angles is often desirablewhen performing various surgical procedures where transections need tohappen in a constrained space and access to targeted soft tissue can bedifficult such as in the thoracic cavity or the pelvic bowl.Commercially available endocutters typically are unable to articulatebeyond angles of forty-five degrees (45°) relative to the elongateshaft. FIGS. 115-117 depict portions of another surgical instrument14010 that is capable of articulating ninety degrees (90°) to both sidesof the elongate shaft and providing a higher mechanical advantage thanthat is attainable with many commercially available endocutterarrangements. As can be seen in those Figures, the surgical instrument14010 includes a surgical end effector 14300 that operably interfaceswith an elongate shaft assembly 14200 that may employ many of thefeatures of the various shaft assemblies disclosed herein. The elongateshaft assembly 14200 defines a shaft axis SA-S. In addition, thesurgical end effector 14300 may essentially comprise any of the variousend effectors described herein or it may comprise other forms ofsurgical end effectors that are configured to perform other surgicalactions/procedures. In the illustrated arrangement, for example, thesurgical end effector 14300 includes an elongate channel 14302 that maybe adapted to support a surgical staple cartridge therein. The elongatechannel 14302 defines an end effector axis EA. The elongate shaftassembly 14200 may comprise a spine 14210 that is pivotally coupled tothe elongate channel 14302 by an articulation joint 14270. In theillustrated arrangement, the elongate channel 14302 of the surgical endeffector 14300 is coupled to the spine 14210 by an articulation pin14818 that defines an articulation axis B-B that that is transverse tothe shaft axis SA-SA. In FIGS. 115-117 , the articulation axis B-B maycoincide with the center axis of the articulation pin 14818, forexample, and would essentially protrude out of the page in each of thoseFigures. The spine 14210 may otherwise be similar to spine 210 describedabove and support a firing member and closure sleeve arrangements asdescribed herein and which are not specifically illustrated in FIGS.115-117 for the purpose of clarity.

In the illustrated example, the elongate shaft assembly 14200 includesarticulation system designated as 14800 that may include an articulationlock that is similar to articulation locks 350, 810 and/or 10810described above and which may be actuated in any of the various mannersdescribed herein. The articulation system 14800 includes a distalarticulation driver 14820 that may comprise a portion of an articulationlock (not shown) or may otherwise simply interface with an articulationcontrol system that is constructed to selectively move the distalarticulation driver 14820 in distal and proximal directions toarticulate the surgical end effector 14300 about the articulation axisB-B. The articulation system 14800 further includes a central link 14900that is pivotally attached to the spine 14210 by a link pin 14902. Inthe illustrated arrangement, the link pin 14901 defines a link axis LAabout which the central link 14900 may pivot which is offset from thearticulation axis B-B. In FIGS. 115-117 , the link axis LA may coincidewith the center axis of the link pin 14901, for example, and wouldessentially protrude out of the page in each of those Figures and beoffset from and parallel with the articulation axis B-B. As can befurther seen in those Figures, in the illustrated arrangement, thecentral articulation link 14900 is pivotally coupled to the spine 14210in an asymmetric configuration. More specifically, a first distancebetween a first end 14902 of the central articulation link 14900 and thelink axis LA is less than a second distance between a second end 14904of the central articulation link 14900 and the link axis LA.

The articulation system 14800 in the illustrated embodiment furtherincludes an intermediate driver link 14910 that is pivotally coupled toan end of the distal articulation driver 14820 as well as to the firstend 14902 of the central articulation link 14900. The articulationsystem 14800 also includes an end effector driver link 14920 that has afirst or distal driver link end 14922 that is pivotally or movablycoupled to the elongate channel 14302. A second or proximal driver linkend 14924 of the end effector driver link 14920 is pivotally coupled toa second end 14904 of the central articulation link 14900. In theillustrated arrangement, the intermediate link 14910 is the shortest ofthe three links 14910, 14900 and 14920 and, in at least one arrangement,has a slight arcuate shape. The end effector driver link 14920 is thelongest of the three links 14910, 14900 and 14920 and, in at least onearrangement, also has a slight arcuate shape. When the distalarticulation driver 14820 is moved in the distal direction DD, thecentral articulation link 14900 causes the end effector driver link14920 to pull the end effector 14300 in the clockwise direction CW aboutthe articulation axis B-B relative to the distal end of the elongateshaft assembly 14200. See FIG. 116 . Depending upon the amount ofproximal travel of the distal articulation driver 14820, the surgicalend effector 14300 may be pivoted to the articulation position shown inFIG. 116 wherein the end effector axis EA is perpendicular to the shaftaxis SA-SA (represented by angle 14950 in FIG. 116 ). Similarly,movement of the distal articulation driver 14820 in the proximaldirection PD will cause the end effector driver link 14920 to push theend effector 14300 in a counterclockwise direction CCW about thearticulation axis B-B relative to the distal end of the elongate shaftassembly 14200. See FIG. 117 . Depending upon the amount of distaltravel of the distal articulation driver 14820, the surgical endeffector 14300 may be pivoted to the articulation position shown in FIG.117 wherein the end effector axis EA is perpendicular to the shaft axisSA-SA (represented by angle 14952 in FIG. 117 ).

As can be seen in FIG. 115 , when in an unarticulated position, the endeffector axis EA is in axial alignment with the shaft axis SA-SA. Asused in this context, the term “aligned with” may mean “coaxiallyaligned” with the shaft axis SA-SA or simply parallel with the shaftaxis SA-SA. The embodiment of FIGS. 115-117 is more robust than priorarrangements and provides a greater range of articulation when comparedto joint arrangements that cannot afford articulation of the endeffector to positions that are ninety degrees (90°) relative to theshaft axis (through a 180 degree path that is transverse to the shaftaxis). This embodiment may also effectively reduce the footprint of theend effector 14300 when articulated by allowing the end effector 14300to translate toward the shaft axis SA-SA while being articulated. Thisgreater range of articulation may also be attained while providing ahigher amount of resistance to bending forces. The second point ofattachment (link pin 14901) to the spine 14210 of the elongate shaftassembly 14200 may reduce the amount of backlash experienced by thearticulation joint 14270. The articulation joint arrangement of FIGS.115-117 may also provide a high amount of mechanical advantage relativeto the amount of force required to articulate the end effector 14300.Further, a high amount of mechanical advantage may be obtained duringde-articulation when the asymmetric central link 14900 is rotated onehundred eighty degrees)(180°). The end effector driver link 14920translates forward and backward in order to articulate the end effector14300 about the articulation axis B-B. The proximal end 14912 of thesmallest link (intermediate link 14910) translates back and forth withthe distal articulation driver 14820 as the distal end 14914 of thesmall link (intermediate link 14910) rotates about its proximal end(point of attachment to the distal articulation driver). As the distalend 14914 of the small link 14910 pivots, a lever effect is created onthe central (grounded) link 14900 which produces an articulation forcemechanical advantage while reducing the backlash experienced by thearticulation system. The central (grounded) link 14900 pivots about itspinned position (pin 14901) to push/pull the longest link (end effectordriver 14920). The longest link 14920 then pivots to articulate the endeffector 14300.

As indicated above, the ability to articulate the surgical end effectorrelative to the shaft to which it is attached at relative high angles isoften desirable when performing various surgical procedures wheretransections need to happen in a constrained space and access totargeted soft tissue can be difficult such as in the thoracic cavity orthe pelvic bowl. Commercially available endocutters typically are unableto articulate beyond angles of forty-five degrees (45°) relative to theelongate shaft. FIGS. 118 and 119 depict portions of another surgicalinstrument 15010 that is capable of articulating ninety degrees (90°) toone side of the elongate shaft while providing a higher mechanicaladvantage than that is typically attainable with many commerciallyavailable endocutter arrangements. As can be seen in those Figures, thesurgical instrument 15010 includes a surgical end effector 15300 thatoperably interfaces with an elongate shaft assembly 15200 that mayemploy many of the features of the various shaft assemblies disclosedherein. The elongate shaft assembly 15200 defines a shaft axis SA-SA. Inaddition, the surgical end effector 15300 may essentially comprise anyof the various end effectors described herein or it may comprise otherforms of surgical end effectors that are configured to perform othersurgical actions/procedures. In the illustrated arrangement, forexample, the surgical end effector 15300 includes an elongate channel15302 that may be adapted to support a surgical staple cartridgetherein. In other end effector embodiments that are not specificallyconstructed to cut and staple tissue, element 15302 may comprise a jawor other portion of the end effector. The elongate channel 15302 definesan end effector axis EA. The elongate shaft assembly 15200 may comprisea spine 15210 that is pivotally coupled to the elongate channel 15302 byan articulation joint 15270. In the illustrated arrangement, theelongate channel 15302 of the surgical end effector 15300 is coupled tothe spine 15210 by an articulation pin 15818 that defines anarticulation axis B-B that that is transverse to the shaft axis SA-SA.In FIGS. 118 and 119 , the articulation axis B-B may coincide with thecenter axis of the articulation pin 15818, for example, and wouldessentially protrude out of the page in each of those Figures. As canalso be seen in those Figures, in the illustrated arrangement, thearticulation axis B-B is offset to one lateral side of the shaft axisSA-SA. Stated another way, the articulation axis B-B does not intersectthe shaft axis SA-SA or the end effector axis EA. The spine 15210 mayotherwise be similar to spine 210 described above and support a firingmember and closure sleeve arrangements as described herein and which arenot specifically illustrated in FIGS. 118-119 for the purpose ofclarity.

In the illustrated example, the elongate shaft assembly 15200 includesarticulation system designated as 15800 that may include an articulationlock that is similar to articulation locks 350, 810 and/or 10810described above and which may be actuated in any of the various mannersdescribed herein. The articulation system 15800 includes a distalarticulation driver 15820 that may comprise a portion of an articulationlock (not shown) or may otherwise simply interface with an articulationcontrol system that is constructed to selectively move the distalarticulation driver 15820 in distal and proximal directions toarticulate the surgical end effector 15300 about the articulation axisB-B. The articulation system 15800 further includes an end effector link15900 that is pivotally attached to the distal end of the distalarticulation driver 15820 as well as the elongate channel 15302 of thesurgical end effector 15300. Thus, when the distal articulation driver15820 is moved in the proximal direction PD, the surgical end effector15300 is pivoted in the counterclockwise CCW direction about thearticulation axis B-B.

As can be seen in FIG. 118 , when in an unarticulated position, the endeffector axis EA is in axial alignment with the shaft axis SA. As usedin this context, the term “aligned with” may mean “coaxially aligned”with the shaft axis SA-SA or simply parallel with the shaft axis SA-SA.Advancement of the distal articulation driver 15820 in the proximaldirection PD will cause the surgical end effector 15300 to pivot aboutthe articulation axis B-B in the counterclockwise direction. Theproximal end 15305 of the elongate channel 15302 and the distal end15211 of the spine 15210 are angled to enable the surgical end effector15300 to pivot to a fully articulated position wherein, for example, theend effector axis EA is perpendicular to the shaft axis SA (angle 15952is ninety degrees)) (90°). See FIG. 119 . In one arrangement, theproximal end 15305 of the surgical end effector 15300 is orientedrelative to said end effector axis EA at an end effector angle 15307 andthe distal end 15211 of the elongate shaft assembly 15200 is orientedrelative to the shaft axis SA-SA at a shaft angle 15213. In onearrangement, the end effector angle 15307 is equal to the shaft angle15213. For example, the end effector angle 15307 and the shaft angle15213 may both be approximately forty-five degrees (45°).

The embodiment of FIGS. 118 and 119 also includes a flexiblede-articulation member 15910 that may be attached to a portion of thesurgical instrument that is configured to selectively only apply apulling motion in the proximal direction PD to the de-articulationmember. As can be seen in FIG. 119 , the de-articulation member 15910 isoriented to flex around the articulation pin 15818 during articulationof the surgical end effector 15300. In an alternative arrangement, thede-articulation member is elastic and is attached to the spine 15210 orother portion of the surgical instrument 15010 at a location that isproximal to the articulation joint 15270 as well as to the proximal end15305 of the elongate channel 15302 or other portion of the surgical endeffector 15300. The flexible de-articulation member may be fabricatedfrom, for example, spring tempered stainless steel, plastic material,Nylon, etc. and be formed into flat bands or cables so as to helpde-articulate the surgical end effector 15300 from an articulatedposition back to the unarticulated position. Once the clinician desiresto return the surgical end effector 15300 to the unarticulatedorientation, the distal articulation driver 15820 is moved in the distaldirection DD, which will start to move the surgical end effector in aclockwise CW direction and the de-articulation member 15910 is pulled inthe proximal direction PD. The de-articulation member 15910 also servesto help pull the surgical end effector in the clockwise CW directionback to the unarticulated position.

The embodiment of FIGS. 118 and 119 may have several advantages overother commercially available articulatable surgical instruments. Sucharrangement, for example, may experience lower backlash duringarticulation due to the minimal number of links. Such arrangement alsoaffords an increased articulation angle over prior designs. As indicatedabove, the surgical end effector may comprise a surgical staplingarrangement of the various types described herein. Such arrangementsemploy an axially movable firing member or firing bar or beam thatexperiences a certain amount of flexure when the end effector isarticulated. The embodiment of FIGS. 118 and 119 may provide an improvedradius of curvature for the firing member due to the non-symmetricarticulation. Stated another way, the distal articulation driver 15820as well as the end effector link 15910 are located to one side of theshaft axis SA-SA, which provides more clearance for attaining a moregradual flexure of the firing member during articulation. Such offsetarticulation axis arrangement which affords articulation in a singlearticulation direction that is transverse to the shaft axis may also bereferred to herein as a “non-symmetrical” articulation arrangement orsystem that can facilitate relatively high articulation angles. Also, inthis embodiment, the articulation axis B-B is laterally offset from theshaft axis. In such embodiment, the distance between the point ofintersection of the shaft axis and the end effector axis to the distalend of the end effector is shorter when the device is in an articulatedstate verses when it is in an unarticulated state.

FIGS. 120-122 depict portions of another articulatable surgicalinstrument 16010 that includes a surgical end effector 16300 thatoperably interfaces with an elongate shaft assembly 16200 that mayemploy many of the features of the various shaft assemblies disclosedherein. The elongate shaft assembly 16200 defines a shaft axis SA-SA. Inaddition, the surgical end effector 16300 may essentially comprise anyof the various end effectors described herein or it may comprise otherforms of surgical end effectors that are configured to perform othersurgical actions/procedures. In the illustrated arrangement, forexample, the surgical end effector 16300 includes an elongate channel16302 that may be adapted to support a surgical staple cartridgetherein, for example. In other end effector embodiments that are notspecifically constructed to cut and staple tissue, element 16302 maycomprise a jaw or other portion of the end effector. The elongatechannel 16302 defines an end effector axis EA. The elongate shaftassembly 16200 may comprise a spine 16210 that is pivotally coupled tothe elongate channel 16302 by an articulation joint 16270. In theillustrated arrangement, the elongate channel 16302 of the surgical endeffector 16300 includes a proximally protruding attachment arm 16309that is coupled to the spine 16210 by a spring pin 16818 that defines anarticulation axis B-B. The articulation axis B-B is transverse to theshaft axis SA-SA. In FIGS. 121 and 122 , the articulation axis B-B maycoincide with the center axis of the spring pin 16818, for example, andwould essentially protrude out of the page in each of those Figures. Ascan also be seen in those Figures, in the illustrated arrangement, thearticulation axis B-B is offset to one lateral side of the shaft axisSA-SA. Stated another way, the articulation axis B-B does not intersectthe shaft axis SA-SA or the end effector axis EA. The spine 16210 mayotherwise be similar to spine 210 described above and support a firingmember and closure sleeve arrangements as described herein and which arenot specifically illustrated in FIGS. 120-122 for the purpose ofclarity. The spring pin 16818 is configured to apply a biasing force tothe attachment arm 16309 to bias the attachment arm 16309 as well as thesurgical end effector 16300 in the clockwise direction CW. Thus, thespring pin 16818 serves to bias the surgical end effector 16300 into theunarticulated position shown in FIG. 121 wherein the end effector axisEA and the shaft axis SA-SA are axially aligned. As used in thiscontext, the term “aligned with” may mean “coaxially aligned” with theshaft axis SA-SA or simply parallel with the shaft axis SA-SA.

In the illustrated example, the elongate shaft assembly 16200 alsoincludes an articulation system designated as 16800 that may include anarticulation lock that is similar to articulation locks 350, 810 and/or10810 described above and which may be actuated in any of the variousmanners described herein. The articulation system 16800 includes adistal articulation driver 16820 that may comprise a portion of anarticulation lock (not shown) or may otherwise simply interface with anarticulation control system that is constructed to selectively move thedistal articulation driver 16820 in distal and proximal directions toarticulate the surgical end effector 16300 about the articulation axisB-B. The distal articulation driver 16820 is pivotally pinned to theproximal end 16305 of the elongate channel 16302. As can be seen in FIG.121 , the distal articulation driver 16820 is pinned to the elongatechannel 16302 at a location that is on one side of the shaft axis SA-SAand end effector axis EA. The articulation axis B-B is located on anopposite of the shaft axis from the point at which the distalarticulation driver is attached to the elongate channel 16302. As canalso be seen in FIG. 121 , in the illustrated arrangement, the point atwhich the distal articulation driver 16820 is attached to the elongatechannel 16302 is distal to the articulation axis B-B. When the distalarticulation driver 15820 is moved in the proximal direction, thesurgical end effector 16300 is pivoted in the counterclockwise CCWdirection about the articulation axis B-B.

As can be seen in FIG. 121 , when in an unarticulated position, the endeffector axis EA is in axial alignment with the shaft axis SA. As usedin this context, the term “aligned with” may mean “coaxially aligned”with the shaft axis SA-SA or simply parallel with the shaft axis SA-SAAdvancement of the distal articulation driver 16820 in the proximaldirection PD will cause the surgical end effector 16300 to pivot aboutthe articulation axis B-B in the counterclockwise direction. Once theclinician desires to return the surgical end effector 16300 to theunarticulated orientation, the distal articulation driver 16820 is movedin the distal direction DD, which will start to move the surgical endeffector 16300 in a clockwise CW direction. The spring pin 16818 alsoserves to help pull the surgical end effector 16300 in the clockwise CWdirection back to the unarticulated position.

FIGS. 123-128 illustrate portions of another surgical instrument 17010that includes a surgical end effector 17300 that operably interfaceswith an elongate shaft assembly 17200 that employs many of the featuresof the various shaft assemblies disclosed herein. The surgical endeffector 17300 may essentially comprise any of the various end effectorsdescribed herein or it may comprise other forms of surgical endeffectors that are configured to perform other surgicalactions/procedures. In the illustrated arrangement, for example, thesurgical end effector 17300 is adapted to cut and staple tissue andincludes a first jaw in the form of an elongate channel 17302 that isconfigured to operably support a surgical staple cartridge 17304therein. See FIGS. 123 and 124 . The illustrated surgical end effector17300 further includes a second jaw in the form of an anvil 17310 thatis supported on the elongate channel 17302 for movement relativethereto. See FIG. 123 . The anvil 17310 may be movably actuated by oneof the closure systems described herein. For example, a first closuredrive system may be employed to actuate a closure sleeve 260 in themanner described herein. The closure sleeve 260 is attached to an endeffector closure sleeve 272 that is pivotally attached to the closuresleeve 260 by a double pivot closure sleeve assembly 271 in any of themanners described herein. As was described above, for example, axialmovement of the closure sleeve 260 may be controlled through actuationof a closure trigger. As the end effector closure sleeve 272 is advancedin the distal direction DD, the anvil 17310 is cammed closed. In atleast one arrangement, a spring (not shown) may be employed to pivot theanvil 17310 to an open position when the end effector closure sleeve 272is retracted back to a starting position.

As can be seen in FIGS. 123-128 , the surgical end effector 17300 may bearticulated relative to the elongate shaft assembly 17200 about anarticulation joint 17270. In the illustrated example, the elongate shaftassembly 17200 includes articulation system designated as 17800 thatemploys an articulation lock 17810 that is similar to articulation locks350, 810 and 10810 described above. See FIGS. 124 and 125 . Thosecomponents of articulation lock 17810 that differ from the components ofarticulation lock 810 and/or articulation lock 350 and or articulationlock 10810 for example and which may be necessary to understand theoperation of articulation lock 17810 will be discussed in further detailbelow. As noted above, further details regarding articulation lock 350may be found in U.S. patent application Ser. No. 13/803,086, entitledARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, nowU.S. Patent Application Publication No. 2014/0263541, the entiredisclosure of which was incorporated by reference herein. Thearticulation lock 17810 can be configured and operated to selectivelylock the surgical end effector 17300 in various articulated positions.Such arrangement enables the surgical end effector 17300 to be rotated,or articulated, relative to the shaft closure sleeve 260 when thearticulation lock 17810 is in its unlocked state.

Referring specifically to FIG. 125 , the elongate shaft assembly 17200includes a spine 210 that is configured to, one, slidably support afiring member (not shown) therein and, two, slidably support the closuresleeve 260 (FIG. 123 ) which extends around the spine 210. The spine 210also slidably supports a proximal articulation driver 230. The proximalarticulation driver 230 has a distal end 231 that is configured tooperably engage the articulation lock 17810. The articulation lock 17810further comprises a shaft frame 17812 that is attached to the spine 210in the various manners disclosed herein. The shaft frame 17812 isconfigured to movably support a proximal portion 17821 of a distalarticulation driver 17820 therein. The distal articulation driver 17820is movably supported within the elongate shaft assembly 17200 forselective longitudinal travel in a distal direction DD and a proximaldirection PD along an articulation actuation axis AAA that is laterallyoffset and parallel to the shaft axis SA-SA in response to articulationcontrol motions applied thereto.

Still referring to FIGS. 124 and 125 , in the illustrated arrangement,the shaft frame 17812 includes a distal end portion 17814 that has apivot pin 17818 formed thereon. The pivot pin 17818 is adapted to bepivotally received within a pivot hole 17397 formed in pivot baseportion 17395 of an end effector mounting assembly 17390. The endeffector mounting assembly 17390 is attached to the proximal end 17303of the elongate channel 10302 by a spring pin 17393 or other suitablemember. The pivot pin 17818 defines an articulation axis B-B that istransverse to the shaft axis SA-SA. Such arrangement facilitates pivotaltravel (i.e., articulation) of the end effector 17300 about thearticulation axis B-B relative to the shaft frame 17812.

As can be seen in FIG. 125 , a link pin 17825 is formed on a distal end17823 of the distal articulation link 17820 and is configured to bereceived within a hole 17904 in a proximal end 17902 of a cross link17900. The cross link 17900 extends transversely across the shaft axisSA-SA and includes a distal end portion 17906. A distal link hole 17908is provided through the distal end portion 17906 of the cross link 17900and is configured to pivotally receive therein a base pin 17398extending from the bottom of the pivot base portion 17395 of the endeffector mounting assembly 17390. The base pin 17395 defines a link axisLA that is parallel to the articulation axis B-B. FIGS. 124 and 127illustrate the surgical end effector 17300 in an unarticulated position.Stated another way, the end effector axis EA defined by the elongatechannel 17302 is aligned with the shaft axis SA-SA. As used in thiscontext, the term “aligned with” may mean “coaxially aligned” with theshaft axis SA-SA or simply parallel with the shaft axis SA-SA. Movementof the distal articulation driver 17820 in the proximal direction PD (inthe various manners discussed herein) will cause the cross link 17900 todraw the surgical end effector 17300 in a clockwise CW direction aboutthe articulation axis B-B as shown in FIG. 126 . Movement of the distalarticulation driver 17820 in the distal direction DD will cause thecross link 17900 to move the surgical end effector 17300 in thecounterclockwise CCW direction about the articulation axis B-B as shownin FIG. 128 . As can be seen in that Figure, the cross link 17900 has acurved shape that permits the cross-link 17900 to curve around thearticulation pin 17818 when the surgical end effector 17300 isarticulated in that direction. When the surgical end effector 17300 isin a fully articulated position on either side of the shaft axis SA-SA,the articulation angle 17700 between the end effector axis EA and theshaft axis SA-SA is approximately sixty-five degrees (65°). Thus, therange of articulation on either said of the shaft axis is from onedegree (1°) to sixty five degrees (65°).

The surgical end effector 17300 of the embodiment illustrated in FIGS.123-128 comprises a surgical cutting and stapling device that employs afiring beam 220 of the various types and configurations describedherein. However, the surgical end effector 17300 of this embodiment maycomprise other forms of surgical end effectors that do not cut and/orstaple tissue. In the illustrated arrangement, a middle support member17950 is pivotally and slidably supported relative to the spine 210. Ascan be seen in FIG. 125 , the middle support member 17950 includes aslot 17952 that is adapted to receive therein a pin 17954 that protrudesfrom the spine 210. Such arrangement enables the middle support member17950 to pivot and translate relative to the pin 17954 when the surgicalend effector 17300 is articulated. A pivot pin 17958 protrudes from theunderside of the middle support member 17950 to be pivotally receivedwithin a corresponding pivot hole 17399 provided in the base portion17395 of the end effector mounting assembly 17390. The middle supportmember 17950 further includes a slot 17960 for receiving a firing beam220 therethrough. The middle support member 17950 serves to providelateral support to the firing beam 220 as it flexes to accommodatearticulation of the surgical end effector 17300.

FIGS. 129-131 illustrate portions of another surgical instrument 18010that includes a surgical end effector 18300 that operably interfaceswith an elongate shaft assembly 18200 that employs many of the featuresof the various shaft assemblies disclosed herein. The surgical endeffector 18300 is adapted to cut and staple tissue and includes a firstjaw in the form of an elongate channel 18302 that is configured tooperably support a surgical staple cartridge therein. The illustratedsurgical end effector 18300 further includes a second jaw in the form ofan anvil 18310 that is supported on the elongate channel 18302 formovement relative thereto. The anvil 18310 may be movably actuated byone of the closure systems described herein.

The elongate shaft assembly 18200 includes a shaft spine 18210 thatdefines a shaft axis SA-SA that coincides with the center of theelongate shaft assembly 18200. Stated another way, the shaft axis SA-SAextends axially down the geometric center of the elongate shaft assembly18200. The spine 18210 may otherwise be similar to spine 210 describedabove and support a firing member and closure sleeve arrangements asdescribed herein and which are not specifically illustrated in FIGS.129-131 for the purpose of clarity. As can be seen in FIG. 131 , thesurgical end effector 18300 may be articulated relative to the elongateshaft assembly 18200 about an articulation joint 18270. The articulationjoint 18270 serves to couple the elongate channel 18302 to a distal end18215 of the spine 18210. The surgical end effector 18300 and, moreparticularly, the elongate channel 18302 of the surgical end effector18300 defines an end effector axis EA that represents the axial centerof the elongate channel 18302. When the surgical end effector 18300 isin an unarticulated orientation, the end effector axis EA is axiallyaligned with the shaft axis SA-SA as illustrated in FIG. 130 . As usedin this context, the term “aligned with” may mean “coaxially aligned”with the shaft axis SA-SA or simply parallel with the shaft axis SA-SA.In the illustrated arrangement, the elongate channel 18302 of thesurgical end effector 18300 includes a proximally protruding attachmentarm 18309 that is coupled to the spine 18210 by a spring pin 18818 thatdefines an articulation axis B-B. The articulation axis B-B istransverse to the shaft axis SA-SA. In FIGS. 130 and 131 , thearticulation axis B-B may coincide with the center axis of the springpin 18818, for example, and would essentially protrude out of the pagein each of those Figures. As can also be seen in those Figures, in theillustrated arrangement, the articulation axis B-B is offset to onelateral side 18213 of the shaft axis SA-SA. Stated another way, thearticulation axis B-B does not intersect the shaft axis SA or the endeffector axis EA. The spring pin 18818 is configured to apply a biasingforce to the attachment arm 18309 to bias the attachment arm 18309 aswell as the surgical end effector 18300 in the clockwise direction CW.Thus, the spring pin 18818 serves to bias the surgical end effector18300 into the unarticulated position shown in FIG. 130 wherein the endeffector axis EA and the shaft axis SA-SA are axially aligned.

The illustrated embodiment further includes an articulation systemdesignated as 18800 that employs an articulation lock 18810 that issimilar to articulation locks 350, 810 and 10810 described above. Thearticulation lock 18810 can be configured and operated to selectivelylock the surgical end effector 18300 in various articulated positions.Such arrangement enables the surgical end effector 18300 to be rotated,or articulated, relative to the elongate shaft assembly 18200 when thearticulation lock 18810 is in its unlocked state. The articulation lock18810 includes a distal articulation driver 18820 that is movablysupported within the elongate shaft assembly 18200 for selectivelongitudinal travel in a distal direction DD and a proximal directionPD. The distal articulation driver 18820 is movable along anarticulation actuation axis AAA that is laterally offset and parallel tothe shaft axis SA-SA in response to articulation control motions appliedthereto. In alternative embodiments, the distal articulation driver18820 does not comprise a portion of an articulation lock, but insteadoperably interfaces with a source of articulation motions (in a handleor in a robotic system) that serves to selectively axially advance thedistal articulation driver 18820 in the distal direction DD and retractthe distal articulation driver 18820 in the proximal direction PD. Thedistal articulation driver 18820 is pivotally pinned to the proximal end18305 of the elongate channel 18302. As can be seen in FIG. 130 , thedistal articulation driver 18820 is pinned to the elongate channel 18302at a location that is on one lateral side 18211 of the shaft axis SA-SAand end effector axis EA. The articulation axis B-B is located on anopposite lateral side 18213 of the shaft axis SA-SA from the point atwhich the distal articulation driver 18820 is attached to the elongatechannel 18302. As can also be seen in FIG. 130 , in the illustratedarrangement, the point at which the distal articulation driver 18820 isattached to the elongate channel 18302 is distal to the articulationaxis B-B. As can be seen in FIG. 130 , when in an unarticulatedposition, the end effector axis EA is in axial alignment with the shaftaxis SA-SA. Advancement of the distal articulation driver 18820 in theproximal direction PD will cause the surgical end effector 18300 topivot about the articulation axis B-B in the counterclockwise directionCCW. Stated another way, the surgical end effector 18300 isarticulatable to positions on one side of the shaft axis SA thatcoincide with the first side 18211 of the spine 18210. Once theclinician desires to return the surgical end effector 18300 to theunarticulated orientation, the distal articulation driver 18820 is movedin the distal direction DD, which will start to move the surgical endeffector 18300 in a clockwise direction CW. The spring pin 16818 alsoserves to help pull the surgical end effector 18300 in the clockwisedirection CW back to the unarticulated position.

The surgical end effector 18300 of the embodiment illustrated in FIGS.129-131 comprises a surgical cutting and stapling device that employs afiring beam 18220 of the various types and configurations describedherein. In one arrangement, for example, the firing beam 18220 may be oflaminated construction as described herein. In the illustratedembodiment, the firing beam 18220 is slidably supported within a pathway18230 that is formed in the spine 18210 and interfaces with a firingsystem of the various types described herein which are configured toselectively advance the firing beam 18220 in the distal direction DD andretract the firing beam 18220 in the proximal direction PD. The distalend of the firing beam 18220 is coupled to or otherwise operablyinterfaces with a firing member (not shown) or tissue cutting member(not shown) of the various types disclosed herein. In at least one form,for example, the firing member 18220 includes a tissue cutting surfaceand is configured to interact with staple support members that areoperably supported within the staple cartridge so as to drive the staplesupport members (and the staples supported thereon) toward the anvil asthe firing member 18220 is driven distally through the staple cartridge.

The articulation joint 18270 of the illustrated embodiment facilitatesarticulation of the surgical end effector 18300 only in one direction(CCW). Stated another way, the surgical end effector 18300 is pivotableto an articulated position that coincides with the first lateral side18211 of the spine 18210. In one example, the surgical end effector18300 may articulate to a fully articulated position shown in FIG. 131wherein the angle 18950 between the end effector axis EA and the shaftaxis is approximately seventy-five degrees (75°). To accommodate suchrange of articulation, the distal end 18215 of the spine 18210 has anotch 18217 that is adjacent to the first side 18211 of the spine 18210.

As indicated above, the firing beam 18220 is slidably supported in apathway 18220 that is provided in the spine 18210. In the illustratedarrangement, the pathway 18230 includes a “first” or proximal portion18232 that is axially aligned with the shaft axis SA-SA and a “second”or distal portion 18234 that is not axially aligned on the shaft axisSA-SA. In the illustrated embodiment, the distal portion 18234 of thepathway 18230 opens at the distal end of the spine at a location that isnot axially aligned with the shaft axis SA-SA. As can be seen in FIGS.130 and 131 , for example, the distal portion 18234 of the pathway 18230opens at a location (designated as 18236 in FIGS. 130 and 131 ) that islaterally offset to a second lateral side 18213 of the shaft axis SA-SA.Further, in at least the illustrated embodiment, the distal portion18234 of the pathway 18230 is curved so as to cause the firing beam18220 to start bending in the articulation direction before the firingbeam 18220 exits the spine 18210. Such arrangement provides the firingbeam 18220 with a higher bend radius when compared to the bend radiusesof the firing beams of other articulatable end effector arrangementsthat articulate in one direction and wherein the firing beam exits thespine 18210 while aligned on the shaft axis SA-SA. Further, the pathway18230 in the illustrated arrangement includes a first or proximalportion 18232 that is axially aligned with the shaft axis SA-SA, asecond arcuate portion 18233 that curves in a first direction away fromthe shaft axis SA-SA and a third arcuate section 18235 that curvestoward the shaft axis SA-SA. As can be further seen in FIGS. 130 and 131, the location 18236 at which the firing beam 18220 exits the spine18210 is located on the second side 18213 of the shaft axis SA that isopposite from the first side 18211 to which the end effector 18300articulates. Thus, the distal portion 18234 of the pathway 18230 servesto position or bias the firing beam 18220 to an “off axis position”relative to the shaft axis SA-SA (a position that is not axially alignedwith the shaft axis SA). Such arrangement provides the firing beam 18220with a gradual arc as it exits the spine 18210. This feature may serveto reduce the likelihood of the firing beam 18220 buckling as it spansthe articulation joint 18270 to enter the surgical end effector 18300.In other arrangements, the proximal portion of the pathway may belaterally offset from the shaft axis. In still other arrangements, theproximal portion of the pathway may be axially aligned with the shaftaxis and the distal portion of the pathway may angle to one side of theshaft axis such that when the firing beam exits the distal portion ofthe pathway, the firing beam is axially offset to the opposite side ofthe shaft axis to which the end effector is articulatable. In sucharrangement, the distal portion of the pathway may be relativelystraight and not curved. In still other arrangements, the distal portionand proximal portion of the pathway may lie along a common axis that islaterally offset from the shaft axis on the side that is opposite fromthe side to which the end effector is articulatable. All of sucharrangements shift the firing beam off center as it exits the spine andallow for a larger bend radius without adding space distal to thearticulation axis.

The firing beams employed in the various surgical instruments disclosedherein are configured to sufficient flex to accommodate the variousarticulated positions of the end effector. In some arrangements, thefiring beam may actually comprise a firing rod 18600 which is coupled toa flexible firing beam 18700 at a coupling or connection 18702. See FIG.132 . The firing rod 18600 is slidably supported in the spine 18210 ofthe elongate shaft assembly and can translate in response to drivingmotions initiated in the handle of the surgical instrument or by arobotic system, for example. In various instances, the firing rod 18600can resist deformation, torqueing and/or bowing when transferring afiring motion. For example, the firing rod 18600 can be comprised of arigid and/or inflexible material and/or structure.

At the coupling 18702, the firing rod 18600 is engaged with adownwardly-protruding key 18701 of the flexible firing beam 18700 (see,e.g., FIG. 132A). For example, the key 18701 can extend into an elongateaperture 18606 formed in a distal end 18604 of the firing rod 18600. Thefiring rod-key engagement is configured to transfer the translation ofthe firing rod 18600 to the flexible firing beam 18700. In variousinstances, the coupling 18702 can be proximate to the articulation joint18270 such that the flexible firing beam 18700 extends from the coupling18702 and through the articulation joint 18270.

In the arrangement depicted in FIGS. 133, 135 , the flexible firing beam18700 includes a plurality of lateral portions or layers 18702 a, 18702b, 18702 c, 18702 d, 18702 e, 18702 f. In various instances, theportions 18702 a, 18702 b, 18702 c, 18702 d, 18702 e, 18702 f can beheld together and movable and/or shiftable relative to each other. Forexample, the lateral portions 18702 a, 18702 b, 18702 c, 18702 d, 18702e, 18702 f can be fixed together at the distal end of the flexiblefiring beam 18700. The portions 18702 a, 18702 b, 18702 c, 18702 d,18702 e, 18702 f can be welded, formed together, fastened and/orotherwise secured together at the distal ends thereof, for example. Atleast a portion of the remaining length of the lateral portions 18702 a,18702 b, 18702 c, 18702 d, 18702 e, 18702 f can be configured to moveand/or shift relative to the adjacent lateral portion(s) 18702 a, 18702b, 18702 c, 18702 d, 18702 e, 18702 f. For example, when the flexiblefiring beam 18700 bends at the articulation joint 18270, the lateralportions 18702 a, 18702 b, 18702 c, 18702 d, 18702 e, 18702 f can shiftinto a staggered and/or offset configuration between the bend in thearticulation joint 18270 and the proximal end of the flexible firingbeam 18700. FIG. 134 illustrates a proximal end 18704 of one form of thefiring beam 18700′ wherein the lateral portions 18702 a, 18702 b, 18702c, 18702 d, 18702 e are even with each other when the firing beam 18700is straight. FIG. 135 illustrates another flexible beam arrangementwherein the layer portions 18702 a, 18702 b, 18702 c, 18702 d, 18702 eand 18702 f are staggered at the proximal end 18704.

Referring again to FIGS. 132 and 133 , the proximal end 18704 of theflexible firing beam 18700 extends into a cavity 18608 that is formed inthe distal end 18604 of the firing rod 18600, the portions 18702 a,18702 b, 18702 c, 18702 d, 18702 e 18702 f of the flexible firing beam18700 can extend along firing paths through the articulation joint18270. When the end effector 18300 is articulated relative to theelongate shaft assembly 18200, the flexible firing beam 18700 andportions 18702 a, 18702 b, 18702 c, 18702 d, 18702 e 18702 f thereof canbend within the articulation joint 18270. In such instances, the lateralportions adjacent lateral portion(s) 18702 a, 18702 b, 18702 c, 18702 d,18702 e 18702 f can extend along altered paths when the end effector18300. A bumper member 18610 is supported in the cavity to accommodateshifting of the portions 18702 a, 18702 b, 18702 c, 18702 d, 18702 e18702 f during articulation. For example, the bumper member 18610 mayrotate within the cavity 18608 as the firing beam portions 18702 a,18702 b, 18702 c, 18702 d, 18702 e 18702 f splay relative to each othersuch that the portions 18702 a, 18702 b, 18702 c, 18702 d, 18702 e 18702f would likely become evenly loaded by the bumper member 18610 duringfiring (i.e., advanced in the distal direction). The bumper member 18610may or may not be fabricated from a compliant material. Further detailsand specifics concerning the above-described firing beam/firing rodarrangement as well as other configurations that may be employed withthe various embodiments disclosed herein may be found in U.S. patentapplication Ser. No. 14/574,478, entitled SURGICAL INSTRUMENT SYSTEMSCOMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THEFIRING STROKE OF A FIRING MEMBER, now U.S. Pat. No. 9,844,374, theentire disclosure of which is hereby incorporated by reference herein.

FIG. 132A depicts a coupling arrangement 18702′ that employs a one-waylatch arrangement for limiting the distal travel of the firing rod18600′. As can be seen in that Figure, the firing rod 18600′ includes alock aperture 18620 that has an angled distal surface 18622 and aperpendicular surface 18624 that is perpendicular to or transverse tothe direction in which the firing rod 18600′ travels. A lock member18630 is movably supported in a lock cavity 18640 in the shaft spine18210. A lock spring 18642 is supported in the lock cavity 18640 to biaslock member 18630 into sliding contact with the firing rod 18600′. Inthe illustrated embodiment, the lock member 18630 has an angled distalsurface 18632 and a perpendicular rear surface 18634 and is sized toextend into the lock aperture 18620 when the firing rod 18600′ has movedto a predetermined distal-most position. When the firing rod 18600′ isdistally advanced to the position shown in FIG. 132A, the lock member18630 spring 18642 biases the lock member into the lock aperture 18620to thereby further prevent any further distal movement of the firing rod18600′. However, when the firing rod 18600′ is retracted in the proximaldirection PD, the firing rod 18600′ will contact the angled distalsurface 18632 and bias the lock member 18630 into the lock cavity 18640in the shaft spine 18210 to permit the firing rod 18600′ to move in theproximal direction PD past the lock member 18630.

FIGS. 136 AND 137 illustrate portions of another surgical instrument19010 that includes a surgical end effector 19300 that operablyinterfaces with an elongate shaft assembly 19200 that employs many ofthe features of the various shaft assemblies disclosed herein. Forexample, the elongate shaft assembly 19200 is similar to elongate shaftassembly 200′ described in detail above except for the differencesdiscussed below. In the illustrated example, the elongate shaft assembly19200 includes a dual articulation link arrangement designated as 19800that employs an articulation lock 19810 that is similar to articulationlocks 350, 810 and 10810 described above. The articulation lock 19810can be configured and operated to selectively lock the surgical endeffector 19300 in various articulated positions. Such arrangementenables the surgical end effector 19300 to be rotated, or articulated,relative to the elongate shaft assembly 19200 when the articulation lock19810 is in its unlocked state. A first distal articulation driver 19820is supported within the spine 19210 of the elongate shaft assembly 19200for selective longitudinal travel in a distal direction DD and theproximal direction PD in response to corresponding articulation controlmotions applied thereto. A downwardly protruding pivot pin 19818 isadapted to be pivotally received within a pivot hole (not shown) formedin the proximal end portion of the elongate channel 19302 of thesurgical end effector 19800. Such arrangement facilitates pivotal travelof the elongate channel 19302 of the surgical end effector 19300relative to the spine 19210 about an articulation axis B-B that isdefined by the pivot hole. As indicated above, the articulation axis B-Bis transverse to the shaft axis SA-SA that is defined by elongate shaftassembly 19200.

Still referring to FIGS. 136 and 137 , the dual articulation linkarrangement 19800 is configured to establish a “push/pull” arrangementwhen an articulation force is applied thereto through the first distalarticulation driver 19820. As can be seen in those Figures, the firstdistal articulation driver 19820 has a first drive rack 19842 formedtherein. A first articulation rod 19844 protrudes distally out of thefirst distal articulation driver 19820 and has a first axial slot 19845therein. In addition, a first end effector link 19850 is movably coupledto the surgical end effector 19300. In one arrangement, for example, thedistal end 19852 of the first end effector link 19850 is pivotallypinned to the elongate channel 19302 of the end effector 19300. Aproximal end 19854 of the first end effector link 19850 includes a firstpin 19856 that is slidably received within the first axial slot 19845 inthe first articulation rod 19844 of the first distal articulation driver19820. The dual articulation link arrangement 19800 further comprises asecond distal articulation driver 19860 that has a second drive rack19862 formed therein. The second distal articulation driver 19860 ismovably supported within the elongate shaft assembly 19200 forlongitudinal travel in the distal direction DD and the proximaldirection PD. A second articulation rod 19864 protrudes distally out ofthe second distal articulation driver 19860 and has a second axial slot19865 therein. In addition, a second end effector link 19870 is movablycoupled to the surgical end effector 19300. In one arrangement, forexample, the distal end 19872 of the second end effector link 19870 ispivotally pinned to the elongate channel 19302 of the end effector19300. A proximal end 19874 of the second end effector link 19870includes a second pin 19876 that is slidably received within the secondaxial slot 19865 in the second articulation rod 19864 of the seconddistal articulation driver 19860. As can be seen in FIG. 136 , the firstend effector link 19850 is attached to the elongate channel 19302 forlongitudinal travel along a first articulation axis FA that is paralleland located on a first axial side of the shaft axis SA-SA. The secondend effector link 19870 is attached to the elongate channel 19302 forlongitudinal travel along a second articulation axis SDA that isparallel to and off to a second lateral side of the shaft axis SA-SA.See FIG. 136 . Thus, by simultaneously pulling on one of the endeffector links 19850, 19870, the surgical end effector 19300 will bearticulated about the articulation axis B-B relative to the elongateshaft assembly 19200. In the illustrated arrangement, the first axialslot 19845 and the second slot 19865 are parallel to each other and areparallel to the shaft axis SA-SA. As can be further seen in FIGS. 136and 137 , the first end effector link 19850 and the second end effectorlink 19870 each have a curved or arcuate shape that curves around thearticulation axis B-B. Such curved shape may further lead to anincreased range of articulation. Further each of the first and secondaxial slots 19845, 19865 may each have a predetermined length thatfacilitates a desired amount of articulation.

As can also be seen in FIGS. 136 and 137 , a proximal pinion gear 19880and a distal pinion gear 19882 are centrally disposed between the firstdrive rack 19842 and the second drive rack 19862 and are in meshingengagement therewith. In alternative embodiments, only one pinion gearor more than two pinion gears may be employed. Thus, at least one piniongear is employed. The proximal pinion gear 19880 and the distal piniongear 19882 are rotatably supported in the spine 19810 for free rotationrelative thereto such that as the first distal articulation driver 19820is moved in the distal direction DD, the pinion gears 19880, 19882 serveto drive the second distal articulation driver 19860 in the proximaldirection PD. Likewise, when the first distal articulation driver 19820is pulled in the proximal direction PD, the pinion gears 19880, 19882drive the second distal articulation driver 19860 in the distaldirection DD. As the first distal articulation driver 19820 moves the inthe proximal direction, the pinion gears 19880, 19882 serve to drive thesecond distal articulation driver 19860 in the distal direction DD. Suchmovement of the first and second distal articulation drivers 19820,19860 causes the surgical end effector 19300 and more specifically, theelongate channel 19302 of the surgical end effector 19300 to pivot aboutthe articulation axis B-B in the articulation direction of arrow 19821.Conversely, to articulate the end effector 19300 in the direction ofarrow 19823, the first distal articulation driver 19820 is moved the inthe distal direction which causes the pinion gears 19880, 19882 to drivethe second distal articulation driver 19860 in the proximal directionPD. Such movement of the first and second distal articulation drivers19820, 19860 causes the surgical end effector 19300 and morespecifically, the elongate channel 19302 of the surgical end effector19300 to pivot about the articulation axis B-B in the articulationdirection of arrow 19823.

The dual solid link articulation arrangement 19800 and its variationsmay afford the surgical end effector with a greater range ofarticulation when compared to other articulatable surgical end effectorconfigurations. In particular, the solid link articulation arrangementsdisclosed herein may facilitate ranges of articulation in the range ofbetween one degree (1°) to sixty-five degrees (65°). Use of at least onepinion gear to interface between the distal articulation drivers enablesthe end effector to be “pushed” and “pulled” into position and also mayreduce the amount of end effector “slop” or undesirable or unintendedmovement during use. The dual solid link articulation arrangementsdisclosed herein also comprise an articulation system that has improvedstrength characteristics when compared to other articulation systemarrangements. The proximal ends of the dual links translate forward andbackward along their respective slots as the end effector isarticulated. These slots may provide the system with higher resistanceto bending forces on the dual links and reduced backlash of the systemby constraining the motion of the dual links.

FIGS. 138-142 illustrate portions of another surgical instrument 20010that includes a surgical end effector 20300 that operably interfaceswith an elongate shaft assembly 20200 that employs many of the featuresof the various shaft assemblies disclosed herein. For example, theelongate shaft assembly 20200 is similar to elongate shaft assembly 200′described in detail above except for the differences discussed below. Adownwardly protruding pivot pin 20818 is adapted to be pivotallyreceived within a pivot hole 20305 formed in the proximal end portion ofthe elongate channel 20302 of the surgical end effector 20300. See FIG.139 . Such arrangement facilitates pivotal travel of the elongatechannel 20302 of the surgical end effector 20300 relative to the spine20210 about an articulation axis B-B that is defined by the pivot hole20305. The articulation axis B-B is transverse to the shaft axis SA-SAthat is defined by elongate shaft assembly 20200. In the illustratedexample, the elongate shaft assembly 20200 includes a dual articulationdriver arrangement designated as 20800 that employs an articulation lock20810 (FIG. 139 ) that is similar to articulation locks 350, 810 and10810 described above. The articulation lock 20810 can be configured andoperated to selectively lock the surgical end effector 20300 in variousarticulated positions. Such arrangement enables the surgical endeffector 20300 to be rotated, or articulated, relative to the elongateshaft assembly 20200 when the articulation lock 20810 is in its unlockedstate. A first distal articulation driver 20820 is supported within thespine 20210 of the elongate shaft assembly 20200 for selectivelongitudinal travel along a first articulation axis FA in a distaldirection DD and the proximal direction PD in response to correspondingarticulation control motions applied thereto. The first articulationaxis FA is parallel to and located to a first lateral side of the shaftaxis SA-SA. The first distal articulation driver 20820 includes a firstproximal drive rack 20842 and a first distal drive rack 20844 formedtherein. The dual articulation link arrangement 20800 further comprisesa second distal articulation driver 20860 that has a second proximaldrive rack 20862 and a second distal drive rack 20864 formed therein.The second distal articulation driver 20860 is movably supported withinthe elongate shaft assembly 20200 for longitudinal travel along a secondarticulation axis SDA in the distal direction DD and the proximaldirection PD. The second articulation axis SDA is parallel to andlocated to a second lateral side of the shaft axis SA-SA. See FIG. 138 .The first and second distal articulation drivers 20820, 20860 operablyinterface with a central articulation member 20850. As can be seen inFIG. 140 , the central articulation member 20850 is pivotally attachedto the shaft spine 20210 by a pin 20851 that serves to define a gearaxis GA about which the central articulation member 20850 may pivot. Thegear axis GA is parallel to the articulation axis BB. See FIG. 139 . Thecentral articulation member 20850 includes a body portion 20852 that hasa gear portion 20854 formed thereon. The gear portion is 20854 is inmeshing engagement with the first distal drive rack 20844 and the seconddistal drive rack 20864.

The surgical end effector 20300 of the embodiment illustrated in FIGS.138-142 comprises a surgical cutting and stapling device. The elongatechannel 20302 is configured to operably support a surgical staplecartridge (not shown) and an anvil assembly 20310. The surgical endeffector 20300 also employs a firing beam (not shown) of the varioustypes and configurations described herein. In the illustratedarrangement, a middle support member 20950 is pivotally and slidablysupported relative to the shaft spine frame 20810. As can be seen inFIG. 140 , the middle support member 20950 includes a central bodyportion 20952 that defines a central slot 20954 that is configured toslidably receive the firing member therethrough to provide lateralsupport to the firing member as it traverses from the elongate shaftassembly 20200 across the articulation joint 20270 to the elongatechannel 20302. A proximal tongue 20955 protrudes proximally from thebody portion 20952 to be movably coupled to the central articulationmember 20850. In the illustrated arrangement, an attachment pin 20960extends through a proximal hole 20956 in the proximal tongue 20955. Theattachment pin 20960 is received within an attachment slot 20856 that isprovided in the body portion 20852 of the central articulation member20850. The proximal tongue 20955 further includes an elongate slot 20957that is configured to receive therein a pivot pin 20211 formed in theshaft spine 20210. See FIG. 139 . The middle support member 20950further includes a distal tongue 20958 that is movably coupled to theproximal end of the elongate channel 20302. As can be further seen inFIG. 139 , a coupler assembly 20970 pivotally couples the middle supportmember 20950 to the elongate channel 20302. More specifically, thecoupler assembly 20970 includes a body plate 20972 that has an endeffector attachment pin 20974 protruding therefrom that is configured toextend through a first pivot hole 20307 in the elongate channel 20302and a distal pivotal hole 20959 in the distal tongue 20958 of the middlesupport member 20950. Such arrangement serves to facilitate pivotaltravel of the middle support member 20950 relative to the elongatechannel 20302 about an end effector pivot axis EPA that is defined bythe end effector attachment pin 20974. As can be seen in FIG. 139 , theend effector pivot axis EPA is parallel to the articulation axis B-B. Inthe illustrated arrangement, the multiple support link assembly 920further comprises a proximal support link 940 and a distal support link950. See FIG. 139 . Specific details regarding the operation of theproximal and distal support links and the middle support member havebeen discussed above and will not be repeated for the sake of brevity.

The dual articulation driver arrangement 20800 is configured toestablish a “push/pull” arrangement when an articulation force isapplied thereto through the first distal articulation driver 20820. Ascan also be seen in FIGS. 138, 139, 141 and 142 , a proximal pinion gear20880 and a distal pinion gear 20882 are centrally disposed between thefirst proximal drive rack 20842 and the second proximal drive rack 20862and are in meshing engagement therewith. In alternative embodiments,only one pinion gear or more than two pinion gears may be employed.Thus, at least one pinion gear is employed. The proximal pinion gear20880 and the distal pinion gear 20882 are rotatably supported in thespine 20810 for free rotation relative thereto such that as the firstdistal articulation driver 20820 is moved in the distal direction DD,the pinion gears 20880, 20882 serve to drive the second distalarticulation driver 20860 in the proximal direction PD. Likewise, whenthe first distal articulation driver 20820 is pulled in the proximaldirection PD, the pinion gears 20880, 20882 drive the second distalarticulation driver 20860 in the distal direction DD. As the firstdistal articulation driver 20820 moves the in the proximal direction,the pinion gears 20880, 20882 serve to drive the second distalarticulation driver 20860 in the distal direction DD. Such movement ofthe first and second distal articulation drivers 20820, 20860 causes thecentral articulation member 20850 through the middle support member20950 to articulate the surgical end effector 20300 and morespecifically, the elongate channel 20302 of the surgical end effector20300 about the articulation axis B-B in the articulation direction ofarrow 20821. See FIG. 141 . Conversely, to articulate the end effector20300 in the direction of arrow 20823, the first distal articulationdriver 20820 is moved the in the distal direction DD which causes thepinion gears 20880, 20882 to drive the second distal articulation driver20860 in the proximal direction PD. Such movement of the first andsecond distal articulation drivers 20820, 20860 causes the surgical endeffector 20300 and more specifically, the elongate channel 20302 of thesurgical end effector 20300 to pivot about the articulation axis B-B inthe articulation direction of arrow 20823. See FIG. 142 .

The dual solid articulation driver arrangement 20800 and its variationsmay afford the surgical end effector with a greater range ofarticulation when compared to other articulatable surgical end effectorconfigurations. In particular, the dual solid driver articulationarrangements disclosed herein may facilitate ranges of articulation inthe range of sixty-five degrees (65°). Use of at least one pinion gearto interface between the distal articulation drivers enable the endeffector to be “pushed” and “pulled” into position also may reduce theamount of end effector “slop” or undesirable or unintended movementduring use. The dual solid driver articulation arrangements disclosedherein also comprise an articulation system that has improved strengthcharacteristics when compared to other articulation system arrangements.

FIGS. 143 and 144 depict a portion of an elongate shaft assembly 21200that is substantially similar to the elongate shaft assembly 1200described above, except for various differences discussed in furtherdetail below. As can be seen in FIG. 143 , the elongate shaft assembly21200 includes an articulation lock 21810 that is substantially similarto articulation locks 810 and 1810 and operates in essentially the samemanner. As can be seen in FIG. 22 , the elongate shaft assembly 21200includes a shaft frame 21812 that comprises a portion of a shaft frame21210. A first distal articulation driver 21820 is movably supportedwithin the elongate shaft assembly 21200 for selective longitudinaltravel in a distal direction DD and a proximal direction PD in responseto articulation control motions applied thereto. The shaft frame 21812further includes a distal end portion 21814 that has a pivot pin 21818formed thereon. The pivot pin 21818 is adapted to be pivotally receivedwithin a pivot hole (not shown) provided in a distal pulley 21340 thatis non-rotatably formed on the proximal end 21320 of the elongatechannel 21302 of a surgical end effector 21300. See FIG. 144 . Sucharrangement facilitates pivotal travel (i.e., articulation) of theelongate channel 21302 of the surgical end effector 21300 relative tothe shaft frame 21812 about an articulation axis B-B defined by thepivot hole and the pin 21818. The shaft frame 21812 further includes acentrally disposed cavity 21817 and a distal notch 21819 that is locatedbetween the distal end 21814 and the centrally disposed cavity 21817.

The shaft assembly 21200 further includes a second distal articulationdriver 21860 that comprises a cable member 21862 that is rotatablyjournaled on a proximal pulley assembly 21840 and the distal pulley21340. In one form, the cable member 21862 comprises a cable that isfabricated from stainless steel, tungsten, aluminum, titanium, etc., forexample. The cable may be of braided or multi-stranded construction withvarious numbers of strands to attain desired levels of tensile strengthand flexibility. In various arrangements, for example, the cable member21862 may have a diameter in the range of 0.03 inches to 0.08 inches andmore preferably in the range of 0.05-0.08 inches. A preferred cable may,for example, be fabricated from 300 series stainless steel—half hard tofull hard. In various arrangements, the cable 21862 may also be coatedwith, for example, Teflon®, copper, etc. for improved lubricity and/orto reduce stretching, for example. A first lug 21863 is attached to oneend of the cable 21862 and a second lug 21864 is attached to the otherend of the cable 21862 by, for example, crimping. See FIG. 144 .

Still referring to FIG. 144 , the cable member 21862 is coupled to adistal end 21821 of the first distal articulation driver 21820 by acoupler assembly 21830. The coupler assembly 21830 includes a couplerbody 21832 that a proximal lug cavity 21834 formed therein and a distallug cavity 21836 formed therein. The first lug 21863 is configured to beretainingly received within the first lug cavity 21834 and the secondlug 21836 is configured to be retainingly received within the second lugcavity 21836. Other fastener arrangements, screws, rivets, clamps,adhesive, etc. may also be employed. When the cable member 21862 isjournaled on the pulleys 21840 and 21340, the coupler assembly 21830 isfree to move axially within the distal notch 21819 in the shaft frame21812 in response to the axial movement of the first distal articulationdriver 21820. The articulation motions generated by the axial movementof the first distal articulation driver 21820 are transferred to thesecond distal articulation driver 21860 or the cable 21862. Anattachment ball or lug 21866 is attached to the cable 21862 and isreceived in a groove or pocket (not shown) formed in the distal pulley21340. Thus, movement of the endless member 21862 is transferred to thesurgical end effector 21300 and more specifically to the elongatechannel 21302 of the surgical end effector 21300 to articulate the endeffector about articulation axis B-B. As such, when the first distalarticulation driver 21820 is moved in the distal direction DD, the cablemember 21862 causes the surgical end effector 21300 to articulate aboutthe articulation axis B-B in one articulation direction and when thefirst distal articulation driver 21820 is moved in the proximaldirection PD, the cable member 21862 causes the surgical end effector21300 to articulate about the articulation axis B-B in an oppositearticulation direction.

In the illustrated arrangement, the proximal pulley assembly 21840 isconfigured to selectively introduce tension into the cable member 21862.For example, as can be seen in FIG. 144 , the proximal pulley assembly21840 comprises a proximal pulley 21842 that is rotatably mounted on apulley mount or bearing 21844. The axis of the pulley mount 21844 isconcentric with the center pulley axis CPA so that the proximal pulley21842 is freely rotatable on the pulley mount 21844. The pulley mount21844 is affixed to the shaft frame 21812 by an eccentric mounting shaft21846 that is attached to the pulley mount 21844. Stated another way,the central axis MSA of the mounting shaft 21846 is offset from thecenter pulley axis CPA (and the center axis of the pulley mount). SeeFIG. 143 . The mounting shaft 21846 is sized to be frictionally receivedin a mounting hole 21813 provided in the shaft frame 21812. A hexagonalsocket 21848 that is configured to receive a standard hexagonal wrenchis provided in the pulley mount 21844. See FIG. 143 . Thus, the tensionin the cable member 21862 may be increased by inserting a hexagonalwrench into the hexagonal socket 21848 and turning the mounting shaft21846 in the appropriate direction. Such action will cause the mountingshaft 21846 as well as the pulley mount 21844 to rotate. Because thecenter axis CPA of the pulley mount 21844 is offset from the center axisMSA of the mounting shaft 21846, the center axis CPA may be movedfurther away from the center axis of the distal pulley 21340 (which maybe coaxial with the articulation axis B-B) to thereby increase thetension in the cable member 21862.

FIGS. 145-147 depict a portion of an elongate shaft assembly 22200 thatis substantially similar to the elongate shaft assembly 1200 describedabove, except for various differences discussed in further detail below.Those components of the elongate shaft assembly 1200 that have beendiscussed in detail above are referenced with like element numbers and,for the sake of brevity, will not be further discussed in great detailbeyond that which may be necessary to understand the operation of shaftassembly 22200. As can be seen in FIG. 147 , the elongate shaft assembly22200 includes an articulation lock 22810 that is substantially similarto articulation locks 810 and 1810 and operates in essentially the samemanner. As can be seen in FIG. 147 , the elongate shaft assembly 22200includes a shaft frame 22812 that comprises a portion of a shaft spine22210. A first distal articulation driver (omitted for clarity in FIGS.145-147 ) is movably supported within the elongate shaft assembly 22200for selective longitudinal travel in a distal direction DD and aproximal direction PD in response to articulation control motionsapplied thereto. The shaft frame 22812 further includes a distal endportion 22814 that has a pivot pin 22818 formed thereon. The pivot pin22818 is adapted to be pivotally received within a pivot hole 22342formed in a distal pulley 22340 that is non-rotatably formed in aproximal end portion 22320 of an elongate channel 22302 of a surgicalend effector 22300. See FIG. 147 . Such arrangement facilitates pivotaltravel (i.e., articulation) of the elongate channel 22302 of therelative to the shaft frame 22812 about an articulation axis B-B definedby the pivot hole 22342 and the pin 22818. The shaft frame 22812 furtherincludes a centrally disposed cavity 22817 and a distal notch 22819 thatis located between the distal end 22814 and the centrally disposedcavity 22817.

The shaft assembly 22200 further includes a second distal articulationdriver 22860 that comprises a cable member 1862 that is rotatablyjournaled on a proximal pulley assembly 22840 and the distal pulley22340. In one form, the cable member 1862 comprises a cable that isfabricated from stainless steel, tungsten, aluminum, titanium, etc., forexample. The cable may be of braided or multi-stranded construction withvarious numbers of strands to attain desired levels of tensile strengthand flexibility. In various arrangements, for example, the cable member1862 may have a diameter in the range of 0.03 inches to 0.08 inches andmore preferably in the range of 0.05-0.08 inches. A preferred cable may,for example, be fabricated from 300 series stainless steel—half hard tofull hard. In various arrangements, the cable may also be coated with,for example, Teflon®, copper, etc. for improved lubricity and/or toreduce stretching, for example. A first lug 1863 is attached to one endof the cable and a second lug 1864 is attached to the other end of thecable member 1862 by, for example, crimping.

Referring now to FIGS. 145 and 147 , the cable member 1862 is coupled toa distal end 1821 of the first distal articulation driver by a couplerassembly 1830. The articulation driver may comprise a distalarticulation driver portion of the articulation lock 22810 and is notshown in FIGS. 145 and 147 for clarity purposes. The coupler assembly1830 comprises an upper coupler portion (not shown) formed on the distalend of the first distal articulation driver (not shown) and a lowercoupler portion 1834. The lower coupler portion 1834 is formed with twocradles 1835 that are configured to receive the lugs 1862, 1864 therein.A pair of attachment pins 1836 is configured to be pressed into holes(not shown) in the upper coupler portion (not shown) to affix the twocoupler portions together. Other fastener arrangements, screws, rivets,adhesive, etc. may be employed. When the cable member 1862 is journaledon the proximal pulley assembly 22840 and the distal pulley 22340, thecoupler assembly 1830 is free to move axially within the distal notch22819 in the shaft frame 22812 in response to the axial movement of thefirst distal articulation driver. The articulation motions generated bythe axial movement of the first distal articulation driver aretransferred to the second distal articulation driver 22860 or the cablemember 1862. An attachment ball or lug 1866 is attached to the cablemember 1862 and is received in a groove or pocket 1342 formed in thedistal pulley 22340. Thus, movement of the cable member 1862 istransferred to the surgical end effector 22300 and more specifically tothe elongate channel 22302 of the surgical end effector 22300 toarticulate the end effector about articulation axis B-B. Thus, when thefirst distal articulation driver is moved in the distal direction DD,the cable member 1862 causes the surgical end effector 22300 toarticulate about the articulation axis B-B in one articulation directionand when the first distal articulation driver is moved in the proximaldirection PD, the cable member 1862 causes the surgical end effector22300 to articulate about the articulation axis B-B in an oppositearticulation direction.

In the illustrated arrangement, the proximal pulley assembly 22840 isconfigured to selectively introduce tension into the cable member 1862.For example, as can be seen in FIG. 147 , the proximal pulley assembly22840 comprises a proximal pulley 22842 that is rotatably mounted on apulley mount or bearing 22844. The pulley mount 22844 is attached to amounting block 22846 that is movably received within an axial mountingcavity 22821 formed in the shaft frame 22812. A tensioning screw 22823is positioned within the shaft frame 22812 to adjust the position of themounting block 22846 within the axial mounting cavity 22821. See FIGS.145 and 147 . Screwing the tensioning screw 22823 inward will cause theend 22825 of the tensioning screw 22823 to bias the mounting block 22846in the proximal direction to introduce tension in the cable member 1862.Such action will move the central axis CPA of the proximal pulley 22842away from the center axis of the distal pulley 22340 a tension distanceDT. Thus as the tension distance DT increases, so does the tension inthe cable member 1862.

FIGS. 148 and 149 depict an alternative proximally pulley assembly22840′ that may be used to tension the cable member 1862. For example,as can be seen in FIG. 148 , the proximal pulley assembly 22840′comprises a proximal pulley 22842 that is rotatably mounted on a pulleymount or bearing 22844. The pulley mount 22844 is attached to a mountingblock 22846 that is movably received within an axial mounting cavity22821 formed in the shaft frame 22812′. In this arrangement, a tensioncam 22850 is attached to an eccentric mounting spindle 22854. Theeccentric mounting spindle 22854 defines a central axis MSA′ that isoffset from the center axis of the tension cam 22850. As can be seen inFIG. 149 , the mounting spindle 22854 has a knurled outer surface and isadapted to be received within a knurled bore 22855 in the shaft frame22812′. A hexagonal socket 22856 that is configured to receive astandard hexagonal wrench is provided in the mounting spindle 22854. SeeFIG. 149 . Thus, the tension in the cable member 1862 may be increasedby inserting a hexagonal wrench into the hexagonal socket 22856 andturning the mounting spindle 22854 in the appropriate direction.Rotation of the mounting spindle 22854 will cause the tension cam 22852to rotate and cam the mounting block 22846 in the proximal direction PDwithin the axial slot 22821 to introduce tension in the cable member1862. Such action will move the central axis CPA of the proximal pulley22842 away from the center axis of the distal pulley 22340 a tensiondistance DT. Thus, as the tension distance DT increases, so does thetension in the cable member 1862.

FIG. 150 illustrates another second distal articulation driver 23860that comprises a cable member 1862 that is rotatably journaled on aproximal pulley 23842 and a distal pulley 22340. A first lug 1863 isattached to one end of the cable 1862 and a second lug 1864 is attachedto the other end of the cable 1862 by, for example, crimping. The cablemember 1862 is coupled to a distal end 1821 of a first distalarticulation driver 1820 by a coupler assembly 1830 in the mannersdescribed herein. In this embodiment, a cable tensioning assembly 23900is employed to introduce a desired amount of tension into the cablemember 1862. As can be seen in FIG. 150 , the cable tensioning assembly23900 includes a mounting bracket 23902 that is mounted on one lateralside of the shaft frame and a tension roller assembly 23910 that isoriented to contact the cable member 1862 adjacent a second lateral sideof the shaft frame. The tension roller assembly 23910 comprises alateral bracket 23912 that is movably coupled to the mounting bracket23902. In the illustrated arrangement, the lateral bracket 23912 isconfigured for threaded engagement with the mounting bracket 23902. Atension roller 23914 is mounted to the lateral bracket 23912 in contactwith the cable member 1862. To increase the tension in the cable member1862 the lateral bracket 23912 is moved toward the mounting bracket inthe lateral direction LD. Such movement causes the tension roller 23914to move laterally inward toward the mounting member and contacts thecable member 1862 to bias the cable member 1862 in the lateral directionLD that is transverse to the rotary direction RD1 and rotary directionRD2 to thereby increase tension in the cable member 1862.

FIG. 151 illustrates another second distal articulation driver 23860′that comprises a cable member 1862 that is rotatably journaled on aproximal pulley (not shown) and a distal pulley (not shown). A first lug1863 is attached to one end of the cable 1862 and a second lug 1864 isattached to the other end of the cable 1862 by, for example, crimping.The cable member 1862 is coupled to a distal end 1821 of a first distalarticulation driver 1820 by a tensioning assembly 1830′ in the mannersdescribed herein. In this embodiment, the distal end 1821′ of the firstdistal articulation driver 1820′ comprises a proximal cleat 1823′ and adistal cleat 1825′. The distal cleat 1825′ is movably affixed to theproximal cleat 1823′ by a tensioning screw member 23900′. In theillustrated arrangement, the tensioning screw member 23900′ includes afirst or proximal threaded portion 23922 that is threaded in a firstthreaded direction into a threaded hole 23940 in the proximal cleat1823′ and a second or distal threaded portion 23924 that is threaded ina second threaded direction into a threaded hole 23942 in the distalcleat 1825′ that is opposite to the first threaded direction. Anactuation nut 23926 is fixed to the screw member 23900′ in a centralposition between the first threaded portion 23922 and the secondthreaded portion 23924. The tensioning screw 23900′ may be rotated byusing a wrench or other appropriate tool to rotate the actuation nut23926. Rotation of the tensioning screw 23900′ in a first direction willdraw the proximal cleat 1823′ and the distal cleat in a first directiontoward each other along a tensioning axis TA that is parallel to thecable member axis CA. As the proximal cleat 1823′ and the distal cleat1825′ move toward each other, the first and second lugs 1863, 1864 alsomove toward each other to introduce tension into the cable member 1862.Rotation of the tensioning screw 23920 in a second opposite directionwill drive the first and second cleats away from each other along thetensioning axis TA. Such movement of the first and second cleats 1823′,1825′ away from each other will permit the first and second lugs 1863,1864 to move away from each other to thereby reduce the tension in thecable member 1862.

FIG. 152 illustrates a closure sleeve 260 which can be utilized to closeand/or open an anvil of an end effector 300 as was described in detailabove or stated another way, the closure sleeve may be used to close amovable jaw or jaws of a surgical end effector. Shown in cross-sectionin that Figure, the closure sleeve 260 includes proximal end 261 thathas an annular slot 262 therein. Such arrangement serves to attach theclosure sleeve 260 to a closure shuttle for axial travel therewith whileenabling the closure sleeve 260 to rotate relative to the closureshuttle about the shaft axis. As was also described above, the closureshuttle is axially actuated by a corresponding closure system or closuredrive system that is configured to generate closure actuation motions.The closure sleeve 260 further includes openings 266 that enable mountson a rotation nozzle to extend therethrough to be seated in recesses inthe shaft spine. Such arrangement facilitates rotation of the shaftspine and closure sleeve 260 about the shaft axis when the nozzle isrotated relative to the handle. As was discussed above, the elongateshaft assembly 200 further includes a switch drum 500 that is rotatablyreceived on the closure sleeve 260. See FIGS. 3 and 4 . The switch drum500 comprises a hollow shaft segment 502 that has a shaft boss 504formed thereon for receive an outwardly protruding actuation pin 410therein. In various circumstances, the actuation pin 410 extends througha slot 267 into a longitudinal slot 408 provided in the lock sleeve 402to facilitate axial movement of the lock sleeve 402 when it is engagedwith the proximal articulation driver 230. Further details regardingthose structures and their operation are set forth above. As furtherdiscussed above, the closure sleeve 260 also includes double pivotclosure sleeve assembly to facilitate attachment of the closure sleeve260 to an end effector closure sleeve 272. Upper and lower tangs 264 and265 are formed on the distal end of the closure sleeve 260 to facilitatesuch attachment in the various manners described above.

As was also discussed above, to close the anvil of the end effector (orto apply closure motions to the jaws or other portions of the endeffector), the closure sleeve 260 is axially advanced in the distaldirection DD upon actuation of the closure system or closure drivesystem. The axial distance in which the closure sleeve 260 must move onthe shaft spine to cause the anvil (or jaw) to be moved to a closedposition is referred to as the “closure stroke”. The maximum axialdistance that the closure sleeve must move to completely close the jawsor other portion of the end effector may be referred to herein as the“complete closure stroke distance”. That distance, for example, maycomprise the total axial distance that the closure sleeve 260 moves froma starting or unactuated position to an ending position that correspondsto fully closed end effector position. In one embodiment, the completeclosure stroke distance of the closure sleeve 260 is approximately 0.230inches, for example.

FIG. 153 illustrates a multi-part closure member assembly 24260 that isconfigured to be movably supported on a spine assembly (not shown) of anelongate shaft assembly of the various types disclosed herein. As willbe described below, a “distal closure member” or “distal closure sleeve”24400 is configured to move an “axial closure distance” on the spineassembly that is less than a “complete closure stroke distance” that acorresponding “proximal closure member” or “proximal closure sleeve”24261 moves in response to an application of a closure actuation motionfrom a closure system. As can be seen in FIG. 153 , the proximal closuresleeve 24261 may be identical to the portion of the closure sleeve 260that is proximal to the point where the diameter of the closure sleeve260 is reduced. Thus, those features of the proximal closure sleeve24261 that are identical to the features of the closure sleeve 260 areidentified in FIG. 153 with like element numbers. The proximal closuresleeve 24261 differs from the closure sleeve 260 in the followingmanners. First, the proximal closure sleeve 24261 terminates at a“necked portion” generally designated as 24300 and includes an internalstop wall or contact portion 24302. In the illustrated embodiment, adistal end 24402 of the distal closure sleeve 24400 is identical to thedistal end of the closure sleeve 260 and includes the upper and lowertangs 264 and 265 to facilitate attachment to the end effector closuresleeve in the various manner disclosed herein. The proximal end 24404 ofthe distal closure sleeve 24400 slidably extends through an opening24304 in the necked portion or the distal end 24300 of the proximalclosure sleeve 24261. The proximal end 24404 of the distal closuresleeve portion 24400 is flared outward to prevent the distal closuresleeve 24400 from separating from the proximal closure sleeve 24261while facilitating relative sliding motion between those components.Still referring to FIG. 153 , such arrangement facilitates the proximalclosure sleeve 24261 to travel an axial distance in the distal directionDD before the distal closure sleeve 24400 is axially advanced. Thisdistance is referred to as a “proximal travel zone” or “dead zone”designated as 24307. In one arrangement, for example, the proximalclosure sleeve 24261 is configured to move through a complete closurestroke distance of 0.230 inches. In such arrangement, for example,(referring to FIG. 153 ) the “proximal axial length” DZ of the proximaltravel zone 24307 may be, for example, in the range of 0.050inches-0.150 inches. Thus, the proximal axial length DZ is less than thecomplete closure stroke distance that the proximal closure sleeve 24261moves from a starting position to an ending position that corresponds toa complete closed condition of the end effector. Stated another way,this arrangement serves to reduce the distal closure sleeve's amount ofaxial travel during actuation of the closure system. Such arrangementalso enables the distal closure sleeve 24400 to have a diameter that issmaller than the diameter of the proximal closure sleeve 24261.

FIG. 154 illustrates another multi-part closure member assembly 25260that may be used in connection with an elongate shaft assembly of thevarious constructions described herein that include a spine assembly orarrangement upon which the closure member assembly 25260 may be movablysupported. In this embodiment, the axial travel of the distal closuresleeve 25400 is less than the axial travel of the proximal closuresleeve 25261 when the proximal closure sleeve 25261 is axially advancedby the closure system through a complete closure stroke or sequence. Theproximal closure sleeve 25261 may be identical to the portion of theclosure sleeve 260 that is proximal to the point where the diameter ofthe closure sleeve 260 is reduced. Thus, those features of the proximalclosure sleeve 25261 that are identical to the features of the closuresleeve 260 are identified with like element numbers. The proximalclosure sleeve 25261 interfaces with the closure system or closure drivesystem in the manner described above and thus, when the closure systemis actuated, the proximal closure sleeve 25261 will axially travel thesame axial distance that the closure sleeve 260 would travel uponactuation. The proximal closure sleeve 25261 differs from the closuresleeve 260 in the following manners. First, the proximal closure sleeve25261 terminates at the necked portion generally designated as 25300.The distal end 24402 of the distal closure sleeve portion 24400 isidentical to the distal end of the closure sleeve 260 and includes theupper and lower tangs to facilitate attachment to the end effectorclosure sleeve in the various manner disclosed herein. The proximal end25404 of the distal closure sleeve 25400 slidably extends through anopening 25304 in the necked portion 25300 of the proximal closure sleeve25261. The proximal end 25404 of the distal closure sleeve 25400includes an opening 25406 through which a center tab member 25306extends. The center tab member 25306 serves to prevent the distalclosure sleeve 25400 from separating from the proximal closure sleeve25261. In addition, the proximal end 25404 includes diametricallyopposed slots 25308 that are configured to receive corresponding upperand lower tabs 25310 therein. Such arrangement facilitates travel of theproximal closure sleeve 25261 an axial distance in the distal directionDD before the distal closure sleeve 24400 is axially advanced thereby.The space between the tabs 25310 and the bottom of the slots 25308 isreferred to as a “proximal travel zone” or “dead zone” designated as25307. The proximal closure sleeve 25261 is configured to move through acomplete closure stroke distance of 0.230 inches. In such arrangement,for example, (referring to FIG. 154 ) the “proximal axial length” DZ ofthe proximal travel zone 25307 may be, for example, in the range of0.050 inches-0.150 inches. Thus, the proximal axial length DZ is lessthan the complete closure stroke distance that the proximal closuresleeve 25261 moves from a starting position to an ending position thatcorresponds to a complete closed condition of the end effector. Statedanother way, this arrangement serves to reduce the distal closuresleeve's amount of axial travel during actuation of the closure system.Such arrangement also enables the distal closure sleeve 25400 to have adiameter that is smaller than the diameter of the proximal closuresleeve 25261.

FIG. 155 illustrates another two-part closure member assembly 26260 thatmay be used in connection with an elongate shaft assembly of the variousconstructions described herein that include a spine assembly orarrangement upon which the closure member assembly 26260 may be movablysupported. In this embodiment, the axial travel of the distal closuresleeve 26400 is less than the axial travel of the proximal closuresleeve 26261 when the proximal closure sleeve 26261 is axially advancedby the closure system through a complete closure stroke or sequence. Theproximal closure sleeve 26261 may be identical to the portion of theclosure sleeve 260 that is proximal to the point where the closuresleeve's diameter is reduced. Thus, those features of the proximalclosure sleeve portion 26261 that are identical to the features of theclosure sleeve 260 are identified with like element numbers. Theproximal closure sleeve portion 26261 interfaces with the closure systemin the manner described above and thus, when the closure system orclosure drive system is actuated, the proximal closure sleeve portion26261 may axially travel the same distance that the closure sleeve 260would travel upon actuation. The proximal closure sleeve 26261 differsfrom the closure sleeve 260 in the following manners. First, theproximal closure sleeve 26261 has a flanged distal end 26300. Inparticular, an annular flange 26302 extends inwardly from the distal end26300 and defines an opening 26304. The distal end of the distal closuresleeve 26400 is identical to the distal end of the closure sleeve 260and includes the upper and lower tangs to facilitate attachment to theend effector closure sleeve in the various manner disclosed herein. Theproximal end 26404 of the distal closure sleeve 26400 slidably extendsthrough an opening 26304 in the distal end 26300 of proximal closuresleeve 26261. The proximal end 26404 of the distal closure sleeve 26400extends through the opening 26304 and includes an outwardly extendingannular flange 26406 which, in cooperation with the inwardly extendingannular flange 26302 prevents the distal closure sleeve 26400 fromseparating from the proximal closure sleeve 26261. In addition, theproximal closure sleeve 26261 includes a stop portion that is proximalto said distal end 26300. In the illustrated arrangement, the stopportion comprises an inwardly extending crimped portion 26306. Sucharrangement facilitates travel of the proximal closure sleeve 26261 anaxial distance in the distal direction DD before the crimped portion26306 contacts the annular flange 26406 to axially drive the distalclosure sleeve 26400 in the distal direction DD. The space between thecrimped portion 26306 and the outwardly extending flange 26406 isreferred to as a “proximal travel zone” or “dead zone” designated as26307. The proximal closure sleeve 26261 is configured to move through acomplete closure stroke distance of, for example, 0.230 inches. In sucharrangement, for example, (referring to FIG. 154 ) the “proximal axiallength” DZ of the proximal travel zone 26307 may be, for example, in therange of 0.050 inches-0.150 inches. Thus, the proximal axial length DZis less than the complete closure stroke distance that the proximalclosure sleeve 26261 axially moves from a starting position to an endingposition that corresponds to a complete closed condition of the endeffector. Stated another way, this arrangement serves to reduce thedistal closure sleeve's amount of axial travel during actuation of theclosure system. Such arrangement also enables the distal closure sleeve26400 to have a diameter that is smaller than the diameter of theproximal closure sleeve 26261.

FIG. 156 illustrates another two-part closure member assembly 27260 thatmay be used in connection with an elongate shaft assembly of the variousconstructions described herein that include a spine assembly orarrangement upon which the closure member assembly 27260 may be movablysupported. In this embodiment, the axial travel of the distal closuresleeve 27400 is less than the axial travel of the proximal closuresleeve 27261 when the proximal closure sleeve 27261 is axially advancedby the closure system through a complete closure stroke or sequence. Theproximal closure sleeve portion 27261 may be identical to the portion ofthe closure sleeve 260 that is proximal to the point where the closuresleeve's diameter is reduced. Thus, those features of the proximalclosure sleeve portion 27261 that are identical to the features of theclosure sleeve 260 are identified with like element numbers. Theproximal closure sleeve portion 27261 interfaces with the closure systemor closure drive system in the manner described above and thus, when theclosure system or closure drive system is actuated, the proximal closuresleeve 27261 may axially travel the same distance that the closuresleeve 260 would travel upon actuation. The proximal closure sleeve27261 differs from the closure sleeve 260 in the following manners.First, the proximal closure sleeve 27261 has a flanged distal end 27300.In particular, an annular flange 27302 extends inwardly from the distalend 27300 and defines an opening 27304. The distal end of the distalclosure sleeve 27400 is identical to the distal end of the closuresleeve 260 and includes the upper and lower tangs o facilitateattachment to the end effector closure sleeve in the various mannerdisclosed herein. The proximal end 27404 of the distal closure sleeve27400 slidably extends through an opening 27304 in the distal end 27300of proximal closure sleeve 27261. The proximal end 27404 of the distalclosure sleeve 27400 extends through the opening 27304 and includes anoutwardly extending annular flange 27406 which cooperates with theinwardly extending annular flange 27302 to prevent the distal closuresleeve 27400 from separating from the proximal closure sleeve 27261. Inaddition, a stop ring 27305 is attached to the proximal closure sleeve27261 within the distal end 27300. The stop ring 27305 may be welded tothe proximal closure sleeve 27261, for example. The stop ring 27305includes an inwardly extending proximal stop flange 27306. Sucharrangement facilitates travel of the proximal closure sleeve 27261 anaxial distance in the distal direction DD before the stop flange 27306contacts the annular flange 27406 to axially drive the distal closuresleeve portion 27400 in the distal direction DD. The space 27307 betweenthe proximal stop flange 27306 and the outwardly extending flange 27406is referred to as a “proximal travel zone” or “dead zone”. In onearrangement, for example, that has a complete closure stroke distance of0.230 inches, the “proximal axial length” DZ of the proximal travel zone27307 may be, for example, in the range of 0.050 inches-0.150 inches.Thus, the proximal axial length DZ is less than the complete closurestroke distance that the proximal closure sleeve 27261 axially movesfrom a starting position to an ending position that corresponds to acomplete closed condition of the end effector. Stated another way, thisarrangement serves to reduce the distal closure sleeve's amount of axialtravel during actuation of the closure system. Such arrangement alsoenables the distal closure sleeve 27400 to have a diameter that issmaller than the diameter of the proximal closure sleeve 27261.

FIGS. 157-158 illustrate another multi-part closure sleeve embodiment28260 wherein the distal closure sleeve portion 28400 that moves adistance that is shorter than a distance that a proximal closure sleeveportion 28261 moves when the closure system is actuated through acomplete closure stroke or sequence. The proximal closure sleeve portion28261 may be essentially identical to the portion of the closure sleeve260 that is proximal to the point where the closure sleeve's diameter isreduced. Thus, those features of the proximal closure sleeve portion28261 that are identical to the features of the closure sleeve 260 areidentified with like element numbers. The proximal closure sleeveportion 28261 interfaces with the closure system in the manner describedabove and thus, when the closure system is actuated, the proximalclosure sleeve portion 28261 may axially travel the same distance thatthe closure sleeve 260 would travel upon actuation. The proximal closuresleeve portion 28261 differs from the closure sleeve 260 in mannerdiscussed below. First, the proximal closure sleeve portion 28261 isconfigured to interface with a closure stroke reduction assembly,generally designated as 29000.

As can be seen in FIGS. 157-158 , in the illustrated arrangement, theclosure stroke reduction assembly 29000 comprises a proximal mountingring 29002 that has a proximal hub portion 29004 on which the distal end28300 of the proximal closure sleeve 28261 is received and attachedthereto. For example, the distal end 28300 of the proximal closuresleeve 28261 may be attached to the proximal hub portion 29004 bywelding, adhesive, etc. Thus, the proximal mounting ring 29002 will moveaxially with the proximal closure sleeve 28261. As can be further seenin FIGS. 157 and 158 , an inwardly extending proximal flange 29006extends from the proximal end of the proximal hub portion 29004. A hole29008 is provided through the proximal flange 29006 to slidably receivethe shaft spine assembly 2210, 2212 therethrough. A distal conicalshaped member 29010 is attached to the distal end of the proximalmounting ring 29002. The distal conical shaped member 29010 may beattached to the proximal mounting ring 29002 by, for example, welding,adhesive, etc. and is free to slide on the distal closure sleeve portion28400 when the proximal mounting ring 29002 is distally advanced.

The proximal mounting ring 29002 is slidably supported on a distalmounting ring 29020 that is attached to the distal closure sleeveportion 28400. The distal mounting ring 29020 includes a distal portion29022 that has a proximal mounting hub 29024 protruding therefrom. Theproximal mounting hub 29024 has a diameter that is less than thediameter of the distal portion 29022 of the distal mounting ring 29020.The proximal mounting hub 29024 may be attached to the proximal end28404 of the distal closure sleeve portion 28400 by welding, adhesive,etc. The proximal hub portion 29004 of the proximal mounting ring 29002is slidably received on the proximal mounting hub 29024 for axial travelthereon. A compression spring 29032 is received within a spring cavity29030 formed between the distal portion 29022 of the distal mountingring 29020 and the proximal hub portion 29004 of the proximal mountingring 29002. When the closure system is in an unactuated configuration,the proximal flange 29006 of the proximal hub portion 29004 is spaced a“proximal travel zone” or “proximal dead zone” 29009 from the proximalend 28404 of the distal closure sleeve 28400. The proximal axial lengthof the proximal travel zone 29009 is designated as DZ. The spring cavity29030 may also be referred to as a “distal travel zone” or “distal deadzone” and has a distal axial length DS that may comprise the dead zoneaxial length DZ plus an amount of clearance required to accommodate thecompression spring 29032 when in its fully compressed state. In onearrangement, for example, that has a complete closure stroke distance of0.230 inches, the “proximal axial length” DZ of the proximal travel zone29009 may be, for example, in the range of 0.050 inches-0.150 inches andthe distal axial length DS may be in the range of 0.100 inches-0.200inches plus the length necessary to accommodate a fully compressedcompression spring 29032. Stated another way, in the illustratedarrangement, DS is always greater than DZ. Thus, the proximal axiallength DZ is less than the complete closure stroke distance that theproximal closure sleeve 27261 axially moves from a starting position toan ending position that corresponds to a complete closed condition ofthe end effector. Such arrangement facilitates travel of the proximalclosure sleeve portion 28261 an axial distance in the distal directionDD before the proximal flange 29006 of the proximal mounting ring 29002contacts the proximal end 28404 of the distal closure sleeve portion28400 to axially drive the distal closure sleeve portion 28400 in thedistal direction DD. The closure stroke reduction assembly 29000 isprovided in multiple pieces to facilitate ease of assembly. Thisarrangement serves to reduce the amount of axial travel of the distalclosure sleeve portion 28400 during actuation of the closure system.Such arrangement employs a distal closure sleeve portion 28400 that hasan outer diameter that is smaller than the outer diameter of theproximal closure sleeve portion 28261. In alternative embodiments, theclosure stroke reduction assembly could be located anywhere within theshaft assembly (e.g., within the nozzle portion, along the length of theshaft, in the articulation joint or at the end effector pivot).Specifically, there could be a slot at the end effector pivot/joint toallow for dead stroke during closure.

The surgical instrument systems described herein are motivated by anelectric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In various instances,the surgical instrument systems described herein can be motivated by amanually-operated trigger, for example. The motor or motor(s) maycomprise a portion or portions of a robotically controlled system.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

The surgical instrument systems described herein are motivated by one ormore electric motors; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In various instances,the surgical instrument systems described herein can be motivated by amanually-operated trigger, for example.

EXAMPLES Example 1

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverseto, and laterally offset from, the shaft axis. The surgical end effectordefines an end effector axis and is configured to be selectivelyarticulated between an unarticulated position wherein the effector axisis axially aligned with the shaft axis to a maximum articulated positionon one side of the shaft axis wherein the end effector axis isperpendicular to the shaft axis. An articulation system operablyinterfaces with the surgical end effector to selectively move thesurgical end effector between the unarticulated position and thearticulated positions.

Example 2

The surgical instrument of Example 1, wherein the articulation systemcomprises an articulation drive member that is operably coupled to thesurgical end effector for selectively applying pushing and pullingmotions thereto.

Example 3

The surgical instrument of Examples 1 or 2, wherein the articulationsystem comprises a de-articulation member that is configured toselectively only apply a pulling motion to the surgical end effector.

Example 4

The surgical instrument of Examples 1, 2 or 3, wherein the articulationsystem comprises an end effector driver link that is coupled to thesurgical end effector. A distal articulation driver is coupled to theend effector driver link and is configured to selectively apply apushing motion and a pulling motion thereto. A de-articulation member isattached to the surgical end effector and is configured to only apply apulling motion thereto.

Example 5

The surgical instrument of Examples 1, 2 or 3, wherein the articulationsystem comprises an end effector driver link that is coupled to thesurgical end effector. A distal articulation driver is coupled to theend effector driver link and is configured to selectively apply apushing motion and a pulling motion thereto. A de-articulation member isconfigured to apply a de-articulation motion to the surgical endeffector.

Example 6

The surgical instrument of Examples 1, 2, 3, 4 or 5, wherein thesurgical end effector is pivotally coupled to the elongate shaftassembly by a spring pin that defines the articulation axis and which isconfigured to apply a de-articulation biasing motion to the surgical endeffector.

Example 7

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. The surgical instrument further comprises asurgical end effector that defines an end effector axis. A articulationjoint is configured to facilitate articulation of the surgical endeffector relative to the elongate shaft assembly between anunarticulated position wherein the end effector axis is axially alignedwith the shaft axis and a fully articulated position wherein the endeffector axis is perpendicular to the shaft axis. The surgicalinstrument further comprises means for applying an articulation motionto the surgical end effector. The means for applying is positioned onlyalong one lateral side of the shaft axis.

Example 8

The surgical instrument of Example 7, wherein a proximal end of thesurgical end effector is angled relative to the end effector axis andwherein a distal end of the elongate shaft assembly is angled relativeto the shaft axis.

Example 9

The surgical instrument of Example 8, wherein the proximal end of thesurgical end effector is oriented at an end effector angle relative tothe end effector axis and wherein the distal end of the elongate shaftassembly is oriented at a shaft angle relative to the shaft axis.

Example 10

The surgical instrument of Example 8, wherein the end effector angle andthe shaft angle are equal to each other.

Example 11

The surgical instrument of Examples 7, 8, 9 or 10 further comprisingmeans for applying a de-articulation motion to the surgical endeffector.

Example 12

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis and includes a distal end. The surgical instrumentfurther comprises a surgical end effector that comprises a proximal endthat is pivotally coupled to the distal end of the elongate shaftassembly for selective pivotal travel relative thereto about anarticulation axis that is laterally offset from the shaft axis andextends transversely relative thereto. The surgical instrument furthercomprises an articulation system that comprises an end effector driverlink that is operably coupled to the surgical end effector. Anarticulation driver is supported for longitudinal travel in distal andproximal directions upon application of articulation motions thereto.The articulation driver is coupled to the end effector driver link toselectively articulate the surgical end effector relative to theelongate shaft assembly about the articulation axis. A flexiblede-articulation member is coupled to the elongate shaft assembly and thesurgical end effector to apply de-articulation motions to the surgicalend effector.

Example 13

The surgical instrument of Example 12, wherein the articulation driveris configured to apply a first articulation motion to the surgical endeffector only in one articulation direction that is transverse to theshaft axis.

Example 14

The surgical instrument of Examples 12 or 13, wherein the surgical endeffector defines an end effector axis and wherein the end effector ismovable between an unarticulated position wherein the effector axis isaxially aligned with the shaft axis to a maximum articulated position onone lateral side of the shaft axis wherein the end effector axis isperpendicular to the shaft axis.

Example 15

The surgical instrument of Examples 12, 13 or 14, wherein thearticulation driver and the end effector driver link are located on onelateral side of the shaft axis when the surgical end effector is in anunarticulated orientation.

Example 16

The surgical instrument of Examples 12, 13, 14 or 15, wherein thesurgical end effector comprises a firing member that is configured foraxial travel within the surgical end effector and wherein the elongateshaft assembly further comprises an axially movable firing beam thatoperably interfaces with the firing member and is selectively movable inthe distal direction in response to a firing motion applied thereto. Thefiring beam is also selectively movable in the proximal direction inresponse to a retraction motion that is applied thereto.

Example 17

The surgical instrument of Examples 12, 13, 14, 15 or 16, wherein theproximal end of the surgical end effector is pivotally pinned to thedistal end of the elongate shaft assembly by an articulation pin andwherein the flexible de-articulation member is configured to flex aroundthe articulation pin when the surgical end effector is articulated aboutthe articulation axis.

Example 18

The surgical instrument of Examples 12, 13, 14, 15, 16 or 17, whereinthe proximal end of the surgical end effector is angled relative to theend effector axis and wherein the distal end of the elongate shaftassembly is angled relative to the shaft axis.

Example 19

The surgical instrument of Example 18, wherein the proximal end of thesurgical end effector is oriented at an end effector angle relative tothe end effector axis and wherein the distal end of the elongate shaftassembly is oriented at a shaft angle relative to the shaft axis.

Example 20

The surgical instrument of Example 19, wherein the end effector angleand the shaft angle are equal to each other.

Example 21

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis and includes a distal end. The surgical instrumentfurther comprises a proximal end that is pivotally coupled to the distalend of the elongate shaft assembly such that the surgical end effectoris selectively movable between an unarticulated position and a fullyarticulated position relative to the shaft axis. A firing beam ismovably supported within a pathway in the elongate shaft assembly forselective longitudinal travel therein. The pathway is configured toposition a portion of the firing beam that exits the distal end of theelongate shaft member to an off axis position relative to the shaftaxis.

Example 22

The surgical instrument of Example 21, wherein the pathway comprises afirst pathway portion that is aligned on the shaft axis and a secondarcuate pathway portion that communicates with the first pathway portionand curves in a first direction away from the shaft axis. The pathwayfurther comprises a third arcuate pathway portion that communicates withthe second arcuate pathway portion and curves in a second directiontoward the shaft axis.

Example 23

The surgical instrument of Examples 22 or 21, wherein the surgical endeffector is configured to articulate in only one articulation directionthat is transverse to the shaft axis.

Example 24

The surgical instrument of Examples 21, 22 or 23, wherein the proximalend of the surgical end effector is pivotally coupled to the elongateshaft assembly at an attachment location on the distal end of theelongate shaft assembly for selective pivotal travel between theunarticulated position and the fully articulated position about anarticulation axis that extends transversely relative to the shaft axis,but does not intersect the shaft axis.

Example 25

The surgical instrument of Examples 21, 22, 23 or 24, further comprisingan articulation driver that is supported for longitudinal travelrelative to the elongate shaft assembly and is coupled to the surgicalend effector for applying articulation motions thereto.

Example 26

The surgical instrument of Example 25, wherein the articulation driveris configured to apply pushing and pulling motions to the surgical endeffector.

Example 27

The surgical instrument of Examples 21, 23, 24, 25 or 26, wherein thepathway comprises a first pathway portion that is axially aligned on theshaft axis and a second pathway portion that communicates with the firstpathway portion and extends distally therefrom such that at least aportion of the second pathway portion is not axially aligned with theshaft axis.

Example 28

The surgical instrument of Examples 21, 22, 23, 24, 25, 26 or 27,wherein the firing beam comprises a plurality of beam layers that arelaminated together.

Example 29

The surgical instrument of Examples 21, 22, 23, 24, 25, 26, 27 or 28,wherein the surgical end effector comprises a firing member thatoperably interfaces with the firing beam and is configured for axialtravel within the surgical end effector.

Example 30

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis and includes a distal end. The surgical instrumentfurther comprises a surgical end effector that includes a proximal end.An articulation joint couples the proximal end of the surgical endeffector to the distal end of the elongate shaft assembly. A firing beamis movably supported within the elongate shaft assembly for longitudinaltravel therein along the shaft axis. The surgical instrument furthercomprises means for biasing a portion of the firing beam into an arcuateconfiguration out of axial alignment with the shaft axis prior to thearticulation joint.

Example 31

The surgical instrument of Example 30, wherein the articulation jointpivotally couples the proximal end of the surgical end effector to thedistal end of the elongate shaft assembly for selective articulationrelative to the elongate shaft assembly about an articulation axis thatis transverse to, and laterally offset from, the shaft axis.

Example 32

The surgical instrument of Examples 30 or 31, wherein the surgical endeffector defines an end effector axis and wherein the surgical endeffector is selectively articulatable between a non-articulated positionwherein the end effector axis is axially aligned with the shaft axis anda fully articulated position located to one lateral side of the shaftaxis.

Example 33

The surgical instrument of Examples 30, 31 or 32, wherein the firingbeam comprises a plurality of beam layers that are laminated together.

Example 34

The surgical instrument of Examples 30, 31, 32 or 33, wherein thesurgical end effector comprises a firing member operably interfacingwith the firing beam and being configured for axial travel within thesurgical end effector.

Example 35

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis and includes a distal end. The surgical instrument furthercomprises a surgical end effector that includes a proximal end. Anarticulation joint couples the proximal end of the surgical end effectorto the distal end of the elongate shaft assembly. A firing beam ismovably supported within the elongate shaft assembly for longitudinaltravel therein along the shaft axis. The surgical instrument furthercomprises means for biasing a portion of the firing beam out of theaxial alignment with the shaft axis prior to the articulation joint.

Example 36

The surgical instrument of Example 35, wherein the articulation jointpivotally couples the proximal end of the surgical end effector to thedistal end of the elongate shaft assembly for selective articulationrelative to the elongate shaft assembly about an articulation axis thatis transverse to, and laterally offset from, the shaft axis.

Example 37

The surgical instrument of Examples 35 or 36, wherein the surgical endeffector defines an end effector axis and wherein the surgical endeffector is selectively articulatable between a non-articulated positionwherein the end effector axis is axially aligned with the shaft axis anda fully articulated position located to one lateral side of the shaftaxis.

Example 38

The surgical instrument of Examples 35, 36 or 37, wherein the firingbeam comprises a plurality of beam layers that are laminated together.

Example 39

The surgical instrument of Examples 35, 36, 37 or 38, wherein thesurgical end effector comprises a firing member that operably interfaceswith the firing beam and is configured for axial travel within thesurgical end effector.

Example 40

The surgical instrument of Example 35, 36, 37, 38 or 39, wherein themeans comprises an arcuate path in a spine portion of the elongate shaftassembly. The arcuate path is configured to slidably receive the firingbeam therein and opens at a distal end of the spine portion at alocation that is axially offset from the shaft axis.

Example 41

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. A surgical end effector is pivotally coupled to theelongate shaft assembly for selective pivotal travel about anarticulation axis that extends transversely relative to the shaft axis.The surgical instrument further comprises an articulation system thatincludes a single articulation driver that is supported for longitudinaltravel along a path that is laterally offset from the shaft axis. Across link is coupled to the articulation driver and extendstransversely across the shaft axis to be coupled to the surgical endeffector.

Example 42

The surgical instrument of Example 41, wherein the articulation axisintersects the shaft axis.

Example 43

The surgical instrument of Example 41, wherein the surgical end effectordefines an end effector axis and wherein the surgical end effector isselectively articulatable between a non-articulated position wherein theend effector axis is axially aligned with the shaft axis and a fullyarticulated position located to one lateral side of the shaft axiswherein the end effector axis is transverse to the shaft axis.

Example 44

The surgical instrument of Example 43, wherein when the surgical endeffector is in the fully articulated position, the end effector axis islocated at an articulation angle relative to the shaft axis. Thearticulation angle is at least sixty-five degrees.

Example 45

The surgical stapling instrument of Examples 43 or 44, wherein thesurgical end effector is selectively articulatable to another fullyarticulated position located on another lateral side of the shaft axis.

Example 46

The surgical instrument of Examples 41, 42, 43, 44 or 45, wherein thecross link is pivotally coupled to the proximal end of the surgical endeffector about a link axis that is parallel to the articulation axis.

Example 47

The surgical instrument of Examples 41, 42, 43, 44, 45, or 46, whereinthe single distal articulation driver is configured to apply pushing andpulling motions to the cross link.

Example 48

The surgical instrument of Examples 41, 42, 43, 44, 45, 46 or 47,wherein the surgical end effector comprises a firing member that isconfigured for axial travel within the surgical end effector and whereinthe elongate shaft assembly further comprises an axially movable firingbeam that operably interfaces with the firing member and is selectivelymovable in a distal direction in response to an application of a firingmotion thereto and in a proximal direction in response to a retractionmotion applied thereto.

Example 49

The surgical instrument of Example 48, further comprising a middlesupport member that is configured to laterally support the firing memberwhen the surgical end effector is articulated about the articulationaxis. The middle support member is pivotally coupled to the surgical endeffector and is pivotally and slidably supported relative to theelongate shaft assembly.

Example 50

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis and includes a distal end. The surgical instrument furthercomprises a surgical end effector that includes a proximal end that ispivotally coupled to the elongate shaft assembly at an attachmentlocation on the distal end of the elongate shaft assembly for selectivepivotal travel about an articulation axis that extends transverselyrelative to the shaft axis. An articulation drive assembly is supportedfor longitudinal travel relative to the elongate shaft assembly along anarticulation actuation axis that is parallel to the shaft axis and isspaced to a first lateral side of the shaft axis. The articulation driveassembly is coupled to the surgical end effector at a single attachmentlocation that is located on another lateral side of the shaft axis.

Example 51

The surgical instrument of Example 50, wherein the articulation driveassembly comprises a distal articulation driver that is supported by theelongate shaft assembly for longitudinal travel along the articulationactuation axis in response to articulation control motions appliedthereto. A cross link is coupled to the distal articulation driver andextends transversely across the shaft axis to be coupled to the surgicalend effector at the single attachment location.

Example 52

The surgical instrument of Examples 50 or 51, wherein the proximal endof the surgical end effector is pivotally coupled to the distal end ofthe elongate shaft assembly by a pivot member that defines thearticulation axis.

Example 53

The surgical instrument of Examples 51 or 52 wherein the cross link hasa curved shape.

Example 54

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis and includes a distal end. The surgical instrument furthercomprises a surgical end effector that comprises a proximal end that ispivotally coupled to the elongate shaft assembly at an attachmentlocation on the distal end of the elongate shaft assembly for selectivepivotal travel about an articulation axis that extends transverselyrelative to the shaft axis through a first range of articulation angleson a first lateral side of the shaft axis and through a second range ofarticulation angles on a second lateral side of the shaft axis. Anarticulation drive assembly is supported for longitudinal travelrelative to the elongate shaft assembly along an articulation actuationaxis that is parallel to and laterally offset on one of the first andsecond lateral sides of the shaft axis. The articulation drive assemblyis coupled to the surgical end effector at a single attachment locationthat is located on the other one of the first and second lateral sidesof the shaft axis to selectively apply pulling and pushing motions tothe surgical end effector.

Example 55

The surgical stapling instrument of Example 54, wherein the first rangeof articulation angles is between one degree and sixty five degrees andwherein the second range of articulation angles is between one degreeand sixty five degrees.

Example 56

The surgical stapling instrument of Examples 54 or 55, wherein thearticulation drive assembly comprises a distal articulation driver thatis supported by the elongate shaft assembly for longitudinal travel inresponse to articulation control motions applied thereto. A cross linkis coupled to the distal articulation driver and extends transverselyacross the shaft axis to be coupled to the surgical end effector at theattachment location.

Example 57

The surgical stapling instrument of Example 56, wherein when the distalarticulation driver is moved in a distal direction, the surgical endeffector is pivoted in a first articulation direction and when thedistal articulation driver is moved in a proximal direction, thesurgical end effector is pivoted in a second articulation direction.

Example 58

The surgical stapling instrument of Example 57, wherein the surgical endeffector comprises a firing member that is configured for axial travelwithin the surgical end effector and wherein the elongate shaft assemblyfurther comprises an axially movable firing beam that operablyinterfaces with the firing member and is selectively movable in thedistal direction in response to an application of a firing motionthereto and in a proximal direction in response to a retraction motionapplied thereto.

Example 59

The surgical stapling instrument of Example 58, further comprising amiddle support member that is configured to laterally support the firingmember when the surgical end effector is articulated about thearticulation axis. The middle support member is pivotally coupled to thesurgical end effector and is pivotally and slidably supported relativeto the elongate shaft assembly.

Example 60

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis and includes a distal end. The surgical instrumentfurther comprises a surgical end effector that includes a proximal endthat is pivotally coupled to the elongate shaft assembly for selectivepivotal travel about an articulation axis that extends transverselyrelative to the shaft axis. An articulation link arrangement isconfigured for rotation relative to the shaft axis such that rotation ofthe articulation link arrangement induces articulation of the surgicalend effector about the articulation axis relative to the elongate shaftassembly. The surgical instrument further comprises means forselectively rotating the articulation link arrangement about the shaftaxis.

Example 61

The surgical instrument of Example 60, wherein the articulation linkarrangement comprises a central articulation link that is movablycoupled to the distal end of the elongate shaft assembly. An endeffector driver link is movably coupled to the central articulation linkfor pivotal travel relative thereto. The end effector driver link isoperably coupled to the surgical end effector for selective pivotal andaxial travel relative thereto. The means for selectively rotatingcomprises an articulation driver that is supported for selectivelongitudinal travel relative to the elongate shaft assembly in a distaldirection and a proximal direction. The articulation driver is operablycoupled to the central articulation link.

Example 62

The surgical instrument of Example 61, wherein the end effector driverlink comprises a proximal driver link end that is pivotally coupled tothe central articulation link and a distal driver link end thatcomprises an axial slot that is configured to slidably receive thereinan end effector attachment member therein.

Example 63

The surgical instrument of Example 62, wherein the proximal driver linkend is in meshing pivotal engagement with a distal end of the elongateshaft assembly.

Example 64

The surgical instrument of Example 62, wherein the articulation driveris movably coupled to the central articulation link by an intermediatedriver link.

Example 65

The surgical instrument of Examples 62, 63 or 64, wherein the centralarticulation link is pivotally coupled to the distal end of the elongateshaft assembly for pivotal travel relative thereto about thearticulation axis.

Example 66

The surgical instrument of Examples 62, 63, 64 or 65, wherein thecentral articulation link comprises a triangular-shaped link that ispivotally coupled to the distal end of the elongate shaft assembly forpivotal travel relative thereto about the articulation axis.

Example 67

The surgical instrument of Examples 62, 63, 64, 65 or 66, wherein thesurgical end effector defines an end effector axis that is configuredfor axial alignment with the shaft axis when the surgical end effectoris in an unarticulated position and wherein the articulation driver issupported for selective longitudinal travel along one lateral side ofthe shaft axis and wherein the end effector attachment member is locatedon a secondary lateral side of the end effector shaft axis thatcorresponds to a second lateral side of the shaft axis.

Example 68

The surgical instrument of Examples 62, 63, 64, 65, 66 or 67, whereinthe distal end of the elongate shaft assembly comprises an arcuate sungear segment and wherein the end effector driver link comprises a planetgear portion in meshing engagement with the arcuate sun gear segment.

Example 69

The surgical instrument of Example 68, wherein the planet gear portioncomprises a plurality of planet gear teeth that is formed on a proximalend of the end effector driver link.

Example 70

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective pivotal travel about anarticulation axis that extends transversely relative to the shaft axis.The surgical instrument further includes an articulation system thatcomprises an articulation driver that is supported for selectivelongitudinal travel relative to the elongate shaft assembly in a distaldirection and a proximal direction. The articulation system furthercomprises means for operably coupling the articulation driver to thesurgical end effector. The means for operably coupling is configured toapply articulation motions to the surgical end effector in response tolongitudinal movement of the articulation driver. The means for operablycoupling is further configured to pivotally and axially move relative tothe surgical end effector.

Example 71

The surgical instrument of Example 70, wherein the articulation driveris coupled to the means for operably coupling on one lateral side of theshaft axis and wherein the means for operably coupling is coupled to thesurgical end effector on another lateral side of the shaft axis.

Example 72

The surgical instrument of Examples 70 or 71, wherein the surgical endeffector comprises a firing member that is configured for axial travelwithin the surgical end effector and wherein the elongate shaft assemblyfurther comprises an axially movable firing beam that operablyinterfaces with the firing member and is selectively movable in thedistal direction in response to an application of a firing motionthereto and in a proximal direction in response to a retraction motionapplied thereto.

Example 73

The surgical instrument of Examples 71 or 72, wherein the means foroperably coupling comprises a triangular shaped link that comprises afirst link corner portion that is operably coupled to the articulationdriver. The triangular shaped link further comprises a second linkcorner portion that operably interfaces with the surgical end effectorand a third link corner portion that is pivotally coupled to a distalend of the elongate shaft assembly.

Example 74

The surgical instrument of Example 73, wherein the third link cornerportion is pivotally coupled to the distal end of the elongate shaftassembly for pivotal travel relative thereto about the articulationaxis.

Example 75

The surgical instrument of Examples 73 or 74, wherein the second cornerportion of the triangular shaped link is operably coupled to an endeffector driver link that is coupled to the surgical end effector forpivotal and axial travel relative thereto.

Example 76

The surgical instrument of Examples 73, 74 or 75, wherein the endeffector driver link comprises an intermediate proximal drive link endthat is pivotally coupled to the triangular shaped link and an endeffector driver link end that comprises an axial slot that is configuredto slidably receive an end effector attachment member therein.

Example 77

A surgical instrument comprising an elongate shaft assembly thatincludes a distal end and a shaft axis. A surgical end effector ispivotally coupled to the distal end of the elongate shaft assembly forselective pivotal travel about an articulation axis that is transverseto the shaft axis. A stationary sun gear segment is on the distal end ofthe elongate shaft assembly. The surgical instrument further comprisesan end effector driver link that includes a distal end that is coupledto the end effector for pivotal and axial travel relative thereto and aproximal end that comprises a planetary gear segment that is supportedin meshing engagement with the stationary sun gear segment. Aselectively movable articulation driver assembly operably interfaceswith the end effector driver link to apply articulation motions thereto.

Example 78

The surgical instrument of Example 77, wherein the articulation driverassembly comprises an articulation driver member that is supported forselective longitudinal travel relative to the elongate shaft assembly ina distal direction and a proximal direction along an axis that is offsetfrom and parallel to the shaft axis. A linkage assembly is coupled tothe distal articulation driver member at a first attachment location onone side of the shaft axis. In addition, the linkage assembly is furthercoupled to the end effector driver link.

Example 79

The surgical instrument of Examples 77 or 78, wherein the surgical endeffector comprises a firing member that is configured for axial travelwithin the surgical end effector and wherein the elongate shaft assemblyfurther comprises an axially movable firing beam that operablyinterfaces with the firing member and is selectively movable in thedistal direction in response to an application of a firing motionthereto and in a proximal direction in response to a retraction motionapplied thereto.

Example 80

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective pivotal travel about anarticulation axis that extends transversely relative to the shaft axis.The surgical instrument further comprises an articulation system thatcomprises a first articulation driver that is supported for selectivelongitudinal travel relative to the elongate shaft assembly in a distaldirection and a proximal direction. The articulation system furthercomprises a first end effector link that is movably coupled to thesurgical end effector. The first end effector link is coupled to thefirst articulation driver for axial and pivotal travel relative thereto.A second articulation driver is supported for selective longitudinaltravel relative to the elongate shaft assembly in the distal andproximal directions. A second end effector link is movably coupled tothe surgical end effector. The second end effector link is coupled tothe second articulation driver for axial and pivotal travel relativethereto.

Example 81

The surgical instrument of Example 80, wherein the first end effectorlink is coupled to the first articulation driver by a first couplermember received within a first axial slot in the first articulationdriver for selective axial travel therein and wherein the second endeffector link is coupled to the second articulation driver by a secondcoupler member received within a second axial slot in the secondarticulation driver.

Example 82

The surgical instrument of Example 81, wherein the first axial slot isparallel to the shaft axis and wherein the second axial slot is parallelto the shaft axis.

Example 83

The surgical instrument of Examples 81 or 82, wherein the first couplermember comprises a first pin sized to rotate and move axially within thefirst axial slot and wherein the second coupler member comprises asecond pin sized to rotate and move axially within the second axialslot.

Example 84

The surgical instrument of Examples 80, 81, 82 or 83, wherein the firstarticulation driver is supported for selective longitudinal travel alonga first articulation axis that extends along one lateral side of theshaft axis and wherein the second articulation driver is supported forselective longitudinal travel along a second articulation axis thatextends along another lateral side of the shaft axis.

Example 85

The surgical instrument of Examples 80, 81, 82, 83 or 84, wherein thesurgical end effector is configured to pivot about the articulation axisthrough a first range of articulation angles on a first lateral side ofthe shaft axis and through a second range of articulation angles on asecond lateral side of the shaft axis.

Example 86

The surgical instrument of Example 85, wherein the first range ofarticulation angles is between one degree and sixty five degrees andwherein the second range of articulation angles is between one degreeand sixty five degrees.

Example 87

The surgical instrument of Examples 80, 81, 82, 83, 84, 85 or 86,wherein the surgical end effector comprises a firing member that isconfigured for axial travel within the surgical end effector and whereinthe elongate shaft assembly further comprises an axially movable firingbeam that operably interfaces with the firing member and is selectivelymovable in the distal direction in response to an application of afiring motion thereto and in the proximal direction in response to aretraction motion applied thereto.

Example 88

The surgical instrument of Examples 80, 81, 82, 83, 84, 85, 86 or 87,wherein the first end effector link is curved and wherein the second endeffector link is curved.

Example 89

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective pivotal travel about anarticulation axis that extends transversely relative to the shaft axis.The surgical instrument further comprises an articulation system thatcomprises a first articulation driver that is supported for selectivelongitudinal travel relative to the elongate shaft assembly in a distaldirection and a proximal direction. A first end effector link ispivotably coupled to the surgical end effector. The first end effectorlink is coupled to the first articulation driver at a first attachmentpoint. A second articulation driver is supported for selectivelongitudinal travel relative to the elongate shaft assembly in thedistal and proximal directions. A second end effector link is pivotablycoupled to the surgical end effector. The second end effector link iscoupled to the second articulation driver at a second attachment point.The articulation system further comprises first means for constrainingtravel of the first attachment point to a first path that has a firstpredetermined shape and a first length. The articulation system furthercomprises a second means for constraining travel of the secondattachment point to a second path that has a second predetermined shapeand a second length.

Example 90

The surgical instrument of Example 89, wherein the first means forconstraining comprises a first axial slot in a first distal end of thefirst articulation driver and wherein the second means for constrainingcomprises a second axial slot in a second distal end of the secondarticulation driver.

Example 91

The surgical instrument of Example 90, wherein the first and secondaxial slots are parallel to each other.

Example 92

The surgical instrument of Examples 89, 90 or 91, wherein the first andsecond lengths are equal to each other.

Example 93

The surgical instrument of Examples 89, 90, 91 or 92, wherein the firstend effector link is pivotable about the first attachment point andwherein the second end effector link is pivotable about the secondattachment point.

Example 94

The surgical instrument of Examples 89, 90, 91, 92 or 93 wherein thesurgical end effector is configured to pivot about the articulation axisthrough a first range of articulation angles on a first lateral side ofthe shaft axis and through a second range of articulation angles on asecond lateral side of the shaft axis.

Example 95

The surgical instrument of Example 94, wherein the first range ofarticulation angles is between one degree and sixty five degrees andwherein the second range of articulation angles is between one degreeand sixty five degrees.

Example 96

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. A surgical end effector is pivotally coupled to theelongate shaft assembly for selective pivotal travel about anarticulation axis that extends transversely relative to the shaft axis.The surgical instrument further comprises an articulation system thatcomprises a first articulation driver that is supported for selectivelongitudinal travel relative to the elongate shaft assembly in a distaldirection and a proximal direction. A first curved end effector link ispivotably coupled to the surgical end effector and is movably coupled tothe first articulation driver. A first pin protrudes from the firstcurved end effector link and is movably received in a first axial slotin the first articulation driver. A second articulation driver issupported for selective longitudinal travel relative to the elongateshaft assembly in the distal and proximal directions. A second curvedend effector link is pivotably coupled to the surgical end effector andis movably coupled to the second articulation driver. A second pinprotrudes from the second curved end effector link and is movablyreceived in a second axial slot in the second articulation driver.

Example 97

The surgical instrument of Example 96, wherein the first pin isrotatable within the first axial slot and wherein the second pin isrotatable in the second axial slot.

Example 98

The surgical instrument of Example 97, wherein the first and secondaxial slots are parallel to each other.

Example 99

The surgical instrument of Examples 96, 97 or 98, wherein the surgicalend effector comprises a firing member that is configured for axialtravel within the surgical end effector and wherein the elongate shaftassembly further comprises an axially movable firing beam that operablyinterfaces with the firing member and is selectively movable in thedistal direction in response to an application of a firing motionthereto and in the proximal direction in response to a retraction motionapplied thereto.

Example 100

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. A surgical end effector is pivotally coupled to theelongate shaft assembly for selective pivotal travel about anarticulation axis that extends transversely relative to the shaft axis.The surgical instrument further comprises an articulation system thatcomprises an articulation driver that is supported for selectivelongitudinal travel relative to the elongate shaft assembly in a distaldirection and a proximal direction. A central articulation link ispivotally coupled to the elongate shaft assembly for pivotal travelrelative thereto. An intermediate link is movably coupled to thearticulation driver and the central articulation link. An end effectordriver is movably coupled to the central articulation link and thesurgical end effector.

Example 101

The surgical instrument of Example 100, wherein the central articulationlink is pivotally coupled to the elongate shaft assembly for pivotaltravel relative thereto about a link axis that is offset from thearticulation axis.

Example 102

The surgical instrument of Example 101, wherein the first axial slot isparallel to the shaft axis and wherein the second axial slot is parallelto the shaft axis.

Example 103

The surgical instrument of Examples 101 or 102, wherein the centralarticulation link comprises a first central link end that is movablycoupled to the intermediate link and a second central link end that ismovably attached to the end effector driver and wherein the firstcentral link end is a first distance from the link axis and wherein thesecond central link end is a second distance from the link axis andwherein the first distance differs from the second distance.

Example 104

The surgical instrument of Example 103, wherein the first distance isless than the second distance.

Example 105

The surgical instrument of Examples 100, 101, 102, 103 or 104, whereinthe central articulation link includes a first length and theintermediate link includes a second length and wherein the end effectordriver includes a third length and wherein the second length is shorterthan the first and third lengths.

Example 106

The surgical instrument of Example 105, wherein the first length isshorter than the third length.

Example 107

The surgical instrument of Examples 100, 101, 102, 103, 104, 105 or 106,wherein the intermediate link curves in a first direction.

Example 108

The surgical stapling instrument of Example 107, wherein the endeffector driver curves in a second direction that is opposite to thefirst direction.

Example 109

The surgical instrument of Examples 100, 101, 102, 103, 104, 105, 106,107 or 108, wherein the surgical end effector is pushed in a firstarticulation direction upon application of a pulling motion to thearticulation driver and wherein the surgical end effector is pulled in asecond articulation direction upon application of a pushing motion tothe articulation driver.

Example 110

The surgical instrument of Examples 100, 101, 102, 103, 104, 105, 106,107, 108 or 109, wherein the surgical end effector is selectivelyarticulatable between an unarticulated position and first articulatedpositions through a first range of articulation angles and wherein thesurgical end effector is articulatable between the unarticulatedposition and second articulated positions through a second range ofarticulation angles.

Example 111

The surgical instrument of Example 110 wherein the first range ofarticulation angles is between one degree and ninety degrees and whereinthe second range of articulation angles is between one degree and ninetydegrees.

Example 112

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. A surgical end effector is pivotally coupled to theelongate shaft assembly for selective pivotal travel about anarticulation axis that extends transversely relative to the shaft axis.The surgical instrument further includes an articulation system thatcomprises an articulation driver that is supported for selectivelongitudinal travel relative to the elongate shaft assembly in a distaldirection and a proximal direction. A central articulation link ispivotally coupled to the elongate shaft assembly for selective pivotaltravel about a link axis that is offset from the articulation axis. Acurved intermediate link is movably coupled to the articulation driverand the central articulation link. A curved end effector driver ismovably coupled to the central articulation link and the surgical endeffector.

Example 113

The surgical instrument of Example 112, wherein the central articulationlink comprises a first central link end that is movably coupled to theintermediate link and a second central link end that is movably attachedto the end effector driver and wherein the first central link end is afirst distance from the link axis and wherein the second central linkend is a second distance from the link axis and wherein the firstdistance differs from the second distance.

Example 114

The surgical instrument of Example 113, wherein the first distance isless than the second distance.

Example 115

The surgical instrument of Examples 112, 113 or 114, wherein the centralarticulation link includes a first length and the intermediate linkincludes a second length and the end effector driver includes a thirdlength and wherein the second length is shorter than the first and thirdlengths.

Example 116

The surgical instrument of Example 115, wherein the first length isshorter than the third length.

Example 117

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. A surgical end effector is pivotally coupled tothe elongate shaft assembly for selective pivotal travel about anarticulation axis that extends transversely relative to the shaft axis.The surgical end effector also comprises a firing member that isconfigured for axial travel within the surgical end effector. Thesurgical instrument further includes an articulation system thatcomprises a distal articulation driver that is supported for selectivelongitudinal travel relative to the elongate shaft assembly in a distaldirection and a proximal direction. A central articulation link ismovably pinned to the distal end of the elongate shaft assembly. Anintermediate link is movably coupled to the distal articulation link andthe central articulation link. An end effector driver is movably coupledto the central link and the surgical end effector.

Example 118

The surgical instrument of Example 117, wherein the surgical endeffector defines an end effector axis and wherein the surgical endeffector is selectively articulatable between a first unarticulatedposition wherein the end effector axis is aligned with the shaft axisand a first maximum articulated position on a first lateral side of theshaft axis wherein the end effector axis extends perpendicular to theshaft axis and a second maximum articulated position on a second lateralside of the shaft axis wherein the end effector axis is perpendicular tothe shaft axis.

Example 119

The surgical instrument of Examples 117 or 118, wherein the centralarticulation link comprises a first central link end that is movablecoupled to the intermediate link and a second central link end that ismovably attached to the end effector driver and wherein the firstcentral link end is a first distance from the link axis and wherein thesecond central link end is a second distance from the link axis andwherein the first distance differs from the second distance.

Example 120

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. The surgical instrument further comprises a surgical endeffector that comprising a distal end and a proximal end. The proximalend is pivotally coupled to the elongate shaft assembly for selectivepivotal travel about an articulation axis that extends transverselyrelative to the shaft axis. The surgical end effector is selectivelypivotable about the articulation axis from an unarticulated positionwherein the distal end of the surgical end effector is located anunarticulated distance from the articulation axis to articulatedpositions wherein the distal end of the surgical end effector is locateda corresponding articulated distance from the articulation axis that isless than the unarticulated distance.

Example 121

The surgical instrument of Example 120, wherein the elongate shaftassembly comprises a pivot member that defines the articulation axis andwherein the proximal end of the surgical end effector comprises anelongate slot configured to slidably receive the pivot member therein.

Example 122

The surgical instrument of Examples 120 or 121, further comprising meansfor selectively applying articulation motions to the surgical endeffector.

Example 123

The surgical instrument of Example 122, wherein the means forselectively applying comprises a rotary gear in meshing engagement withthe surgical end effector.

Example 124

The surgical instrument of Example 123, wherein the proximal end of thesurgical end effector comprises an elliptical gear profile in meshingengagement with the rotary gear.

Example 125

The surgical instrument of Examples 123 or 124, wherein the means forselectively applying comprises a selectively axially moveable distalarticulation driver that operably interfaces with the rotary gear.

Example 126

The surgical instrument of Example 125, further comprising a drive slotin the selectively axially movable distal articulation driver and adrive pin that is attached to the rotary gear and is slidably receivedin the drive slot.

Example 127

The surgical instrument of Examples 120, 121, 122, 123, 124, 125 or 126,wherein the surgical end effector defines an end effector axis that islocated such that when the surgical end effector is in the unarticulatedposition, the end effector axis is aligned with the shaft axis andwherein when the surgical end effector is articulated to a full one ofthe articulated positions, the end effector axis is perpendicular to theshaft axis.

Example 128

The surgical instrument of Examples 122, 123, 124, 125, 126 or 127,wherein the means for selectively applying comprises a centralarticulation link that is supported for rotational travel about thearticulation axis. A selectively axially movable articulation driverinterfaces with the central articulation link at a first location on afirst side of the shaft axis. The means for selectively applying furthercomprises an articulation drive link that includes a first end that iscoupled to the surgical end effector and a second end that is coupled tothe central articulation link at a second location on a second side ofthe shaft axis.

Example 129

The surgical instrument of Example 128, wherein the means forselectively applying comprises a central articulation gear that issupported for travel about the articulation axis and a gear profile thatis located on the second end of the articulation drive link. The gearprofile is in meshing engagement with the central articulation gear.

Example 130

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis and includes a distal shaft portion. The surgicalinstrument further comprises a surgical end effector that defines an endeffector axis and includes a distal end and a proximal end. The proximalend is movably coupled to the distal shaft portion for selective travelbetween an unarticulated position wherein the end effector axis isaligned with the shaft axis and the distal end of the surgical endeffector is located an unarticulated distance from the distal endportion of the elongate shaft assembly to articulated positions whereinthe end effector axis is transverse to the shaft axis and the distal endof the surgical end effector is located a corresponding articulateddistance from the distal shaft portion that is less than theunarticulated distance.

Example 131

The surgical instrument of Example 130, wherein the proximal end of thesurgical end effector is movably coupled to the distal shaft portion ofthe elongate shaft assembly by a selectively axially movablearticulation driver and an articulation link.

Example 132

The surgical instrument of Examples 130 or 131, wherein when thesurgical end effector is articulated in one of the articulatedpositions, the end effector axis is perpendicular to the shaft axis.

Example 133

A surgical instrument, comprising an elongate shaft assembly thatdefines a shaft axis. The surgical instrument further comprises asurgical end effector that includes a distal end and a proximal end. Theproximal end being is movably coupled to the elongate shaft assembly forselective pivotal travel about an articulation axis that extendstransversely relative to the shaft axis and translational travelrelative to the articulation axis. An articulation system operablyinterfaces with the surgical end effector to selectively applyarticulation motions thereto.

Example 134

The surgical instrument of Example 133, wherein the articulation systemcomprises a rotary gear that is in meshing engagement with the surgicalend effector and means for rotating the rotary gear.

Example 135

The surgical instrument of Example 134, further comprising an ellipticalgear segment on the proximal end of the surgical end effector in meshingengagement with the rotary gear.

Example 136

The surgical instrument of Examples 134 or 135, wherein the means forrotating the rotary gear comprises a selectively axially moveable distalarticulation driver that includes a drive slot and a drive pin that isattached to the rotary gear and is slidably received in the drive slot.

Example 137

The surgical instrument of Example 136, wherein the drive slot istransverse to the shaft axis.

Example 138

The surgical instrument of Examples 133, 134, 135, 136 or 137, whereinthe surgical end effector is configured to cut and staple tissue.

Example 139

The surgical instrument of Examples 133, 134, 135, 136, 137 or 138,wherein the articulation system comprises a central articulation linkthat is supported for rotational travel about the articulation axis. Aselectively axially movable articulation driver interfaces with thecentral articulation link at a first location on a first side of theshaft axis. The articulation system further comprises an articulationdrive link that includes a first end that is coupled to the surgical endeffector and a second end that is coupled to the central articulationlink at a second location on a second side of the shaft axis.

Example 140

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. A surgical end effector is pivotally coupled to theelongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical instrument further comprises anarticulation system that includes an articulation cable that is coupledto the surgical end effector at a point of attachment and is journaledon a proximal pulley that is supported on the elongate shaft assembly.The proximal pulley defines a proximal pulley axis that is located atension distance from the point of attachment. An articulation driver iscoupled to the articulation cable for selectively causing thearticulation cable to rotate about the proximal pulley in first andsecond articulation directions. An adjustable tensioning assemblyinterfaces with the proximal pulley to selectively adjust the tensioningdistance.

Example 141

The surgical instrument of Example 140, further comprising a distalpulley that is attached to the surgical end effector and defines thepoint of attachment.

Example 142

The surgical instrument of Example 141, wherein the distal pulleydefines the articulation axis.

Example 143

The surgical instrument of Examples 140, 141 or 142, wherein theadjustable tensioning assembly comprises a pulley mount that supportsthe proximal pulley thereon. A mounting shaft is coupled to the pulleymount and is supported in a portion of the elongate shaft assembly forselective rotation relative thereto. The mounting shaft is eccentricallyattached to the pulley mount such that rotation of the mounting shaftcauses the proximal pulley to move axially to adjust the tensiondistance between the proximal pulley axis and the point of attachment.

Example 144

The surgical stapling instrument of Example 143, wherein the mountingshaft defines a mounting shaft axis that is offset from the proximalpulley axis.

Example 145

The surgical instrument of Examples 140, 141 or 142, wherein theadjustable tensioning assembly comprises a pulley mount that supportsthe proximal pulley thereon. A mounting member is attached to the pulleymount and is slidably supported on the elongate shaft assembly forselective axial travel relative thereto. The adjustable tensioningassembly further comprises means for selectively axially moving themounting member on the elongate shaft assembly.

Example 146

The surgical instrument of Example 145, wherein the means forselectively axially moving comprises a tensioning screw that is mountedin the elongate shaft assembly and is configured to axially move themounting member within an axial slot in the elongate shaft assembly.

Example 147

The surgical instrument of Example 145, wherein the means forselectively axially moving comprises a rotary cam assembly that ismounted in the elongate shaft assembly and is configured to axially movethe mounting member within an axial slot in the elongate shaft assembly.

Example 148

The surgical instrument of Example 147, wherein the rotary cam assemblycomprises a tension cam that is configured for camming contact with themounting member. A mounting spindle is coupled to the tension cam and issupported in a portion of the elongate shaft assembly for selectiverotation relative thereto. The mounting spindle is attached to thetension cam such that rotation of the mounting spindle in a firstdirection causes the tension cam to axially bias the mounting memberwithin the axial slot.

Example 149

The surgical instrument of Example 148, wherein the mounting spindle hasa knurled outer surface and is configured to be received within aknurled hole in the portion of the elongate shaft assembly.

Example 150

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. A surgical end effector is pivotally coupled to theelongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical instrument further comprises anarticulation system that includes an articulation cable that isjournaled on a distal pulley that is attached to the surgical endeffector and a proximal pulley that is supported on the elongate shaftassembly. An articulation driver is coupled to the articulation cablefor selectively causing the articulation cable to rotate about theproximal pulley in first and second rotation directions. An adjustabletensioning assembly is supported on the elongate shaft assembly and isconfigured to selectively contact a portion of the articulation cable ina direction that is transverse to the first and second rotationdirections to increase an amount of tension in the articulation cable.

Example 151

The surgical instrument of Example 150, wherein the articulation cablecomprises a first cable end and a second cable end and wherein the firstand second cable ends operably interface with the articulation driver.

Example 152

The surgical instrument of Example 151, wherein the articulation drivercomprises a distal end portion that includes a pair of cleats. Thecleats define a mounting space therebetween. The first cable endcomprises a first lug attached to the cable that is received within themounting space and wherein the second cable end comprises a second lugattached thereto and is received within the mounting space between thepair of cleats.

Example 153

The surgical instrument of Examples 150, 151 or 152, wherein thearticulation cable is non-rotatably coupled to the distal pulley.

Example 154

A surgical instrument comprising an elongate shaft assembly that definesa shaft axis. A surgical end effector is pivotally coupled to theelongate shaft assembly for selective articulation relative to theelongate shaft assembly about an articulation axis that is transverse tothe shaft axis. The surgical instrument further comprises anarticulation system that includes an articulation cable that isjournaled on a distal pulley that is attached to the surgical endeffector and a proximal pulley that is supported on the elongate shaftassembly. The articulation cable comprises a first cable end and asecond cable end. The articulation system further comprises anarticulation driver for selectively causing the articulation cable torotate about the proximal pulley in first and second articulationdirections. The articulation driver includes a first cleat that isattached to the first cable end and a second cleat that is attached tothe second cable end and is spaced from the first cleat. Thearticulation system also includes means that is coupled to the first andsecond cleats for moving the first and second cable ends toward eachother to increase an amount of tension in the articulation cable.

Example 155

The surgical instrument of Example 154, wherein the means that iscoupled to the first and second cleats for moving the first and secondcable ends toward each other comprises a rotary member that is coupledto the first and second cleats such that rotation of the rotary memberin a first rotary direction causes the first and second cleats to movetoward each other and rotation of the rotary member in a second rotarydirection causes the first and second cleats to move away from eachother.

Example 156

The surgical instrument of Example 155, wherein the rotary membercomprises a tension screw that is in threaded engagement with the firstand second cleats.

Example 157

The surgical instrument of Example 154, wherein the first cable endcomprises a first lug that is attached to the cable that is receivedbetween the first and second cleats and wherein the second cable endcomprises a second lug that is attached to the cable and is receivedbetween the first and second cleats.

Example 158

The surgical instrument of Examples 154, 155, 156 or 157, wherein thearticulation cable is non-rotatably coupled to the distal pulley.

Example 159

The surgical instrument of Examples 154, 155, 156, 157 or 158, whereinthe surgical end effector is configured to cut and staple tissue.

Example 160

A surgical instrument comprising a surgical end effector that includes afirst jaw and a second jaw, wherein one of the first jaw and the secondjaw is selectively movable relative to the other of the first jaw andthe second jaw upon application of a closure motion to the surgical endeffector. The surgical instrument further comprises an elongate shaftassembly that includes a closure member assembly that is supported foraxial travel relative to the surgical end effector. The closure memberassembly comprises a proximal closure member that is configured to beaxially advanced a complete closure stroke distance upon application ofa closure actuation motion thereto. A distal closure member movablyinterfaces with the proximal closure member such that the distal closuremember moves an axial closure distance in response to axial movement ofthe proximal closure member through the complete closure stroke distanceto thereby cause the distal closure member to apply the closure motionto the surgical end effector and wherein the axial closure distance isless than the complete closure stroke distance.

Example 161

The surgical instrument of Example 160, wherein the proximal closuremember comprises a distal end and wherein the distal closure membercomprises a proximal end that is slidably affixed to the distal end ofthe proximal closure member such that, as the proximal closure membermoves through the complete closure stroke distance, the distal closuremember does not begin to axially move through the axial closure distanceuntil the proximal closure member has axially moved through a portion ofthe complete closure stroke distance.

Example 162

The surgical instrument of Example 161, wherein the elongate shaftassembly comprises a spine assembly that is coupled to the surgical endeffector and wherein the proximal closure member comprises a proximalclosure sleeve that is supported on a portion of the spine assembly foraxial travel through the complete closure stroke distance thereon andwherein the distal closure member comprises a distal closure sleeve thatis slidably journaled on another portion of the spine assembly and ismovably coupled to the proximal closure sleeve.

Example 163

The surgical instrument of Example 162, wherein the proximal closuresleeve has an opening in a distal end thereof and wherein a proximal endof the distal closure sleeve extends through the opening and isconfigured to prevent the proximal end of the distal closure sleeve fromseparating from the distal end of the proximal closure sleeve.

Example 164

The surgical instrument of Example 163, wherein the distal end of theproximal closure sleeve is flared inwardly around the opening andwherein the proximal end of the distal closure sleeve is flaredoutwardly to prevent the proximal end of the distal closure sleeve fromseparating from the distal end of the proximal closure sleeve whilefacilitating axial travel of the proximal closure sleeve through aportion of the complete closure stroke distance relative to the distalclosure sleeve.

Example 165

The surgical instrument of Example 162, wherein the proximal closuresleeve comprises an inwardly extending flange that defines an opening ina distal end thereof and wherein a proximal end of the distal closuresleeve extends through the opening and comprises an outwardly extendingflange that cooperates with the inwardly extending flange to prevent theproximal end of the distal closure sleeve from separating from thedistal end of the proximal closure sleeve.

Example 166

The surgical instrument of Example 162, wherein the proximal closuresleeve comprises a contact portion that is proximal to the distal end ofthe proximal closure sleeve. The contact portion is configured toaxially contact the proximal end of the distal closure sleeve after theproximal closure sleeve has axially advanced through a predeterminedportion of the complete closure stroke distance.

Example 167

The surgical instrument of Example 166, wherein the contact portioncomprises a crimped portion of the proximal closure sleeve.

Example 168

The surgical instrument of Example 166, wherein the contact portioncomprises at least one inwardly extending tab member that is formed inthe proximal closure sleeve and is orientated to contact a correspondingportion of the proximal end of the distal closure sleeve.

Example 169

The surgical instrument of Examples 166, wherein the contact portioncomprises an inwardly extending flange that is formed on a stop memberthat is attached to an inside wall of the proximal closure sleeve.

Example 170

A surgical instrument comprising a surgical end effector that includes afirst jaw and a second jaw, wherein one of the first jaw and the secondjaw is selectively movable relative to the other of the first jaw andthe second jaw upon application of a closure motion to the surgical endeffector. The surgical instrument further comprises an elongate shaftassembly that includes a closure member assembly that is supported foraxial travel relative to the surgical end effector. The closure memberassembly comprises a proximal closure member that is configured to beaxially advanced a complete closure stroke distance upon application ofa closure actuation motion thereto. A distal closure member is supportedfor axial travel an axial closure distance that is less than thecomplete closure stroke distance to apply the closure motion to thesurgical end effector. A closure stroke reduction assembly interfaceswith the proximal closure member and the distal closure member suchthat, as the proximal closure member moves through the complete closurestroke distance, the distal closure member does not begin to axiallymove through the closure distance until the proximal closure member hasaxially moved through a portion of the complete closure stroke distance.

Example 171

The surgical instrument of Example 170, wherein the elongate shaftassembly comprises a spine assembly that is coupled to the surgical endeffector and wherein the proximal closure member comprises a proximalclosure sleeve that is supported on a portion of the spine assembly foraxial travel through the complete closure stroke distance thereon andwherein the distal closure member comprises a distal closure sleeve thatis slidably supported on another portion of the spine assembly for axialtravel through the closure distance.

Example 172

The surgical instrument of Examples 170 or 171, wherein the closurestroke reduction assembly comprises a proximal mounting member coupledto the proximal closure sleeve for axial travel therewith through thecomplete closure stroke distance and a distal mounting member that iscoupled to the distal closure sleeve for axial travel therewith throughthe closure distance.

Example 173

The surgical instrument of Example 172, wherein the proximal mountingmember comprises a contact portion that is configured to contact atleast one of the proximal mounting member and the proximal closuresleeve after the proximal closure sleeve has moved through the portionof the complete closure stroke distance.

Example 174

The surgical instrument of Example 173, wherein the distal mountingmember defines a distal ledge and wherein the proximal mounting memberdefines a proximal ledge that is spaced from the distal ledge to form adistal travel zone therebetween and wherein the contact portion isspaced from the at least one of the proximal mounting member and theproximal closure sleeve to define a proximal travel zone between thecontact portion and the at least one of the proximal mounting member andthe proximal closure sleeve.

Example 175

The surgical instrument of Example 174, wherein the proximal travel zonehas a proximal axial width and wherein the distal travel zone has adistal axial width that differs from the proximal axial width.

Example 176

The surgical instrument of Examples 172, 173, 174 or 175, furthercomprising a biasing member that is located between the proximalmounting member and the distal mounting member.

Example 177

The surgical instrument of Examples 174 or 175, further comprising abiasing member that is supported within the distal travel zone.

Example 178

A surgical instrument comprising a surgical end effector that includes afirst jaw and a second jaw wherein one of the first jaw and the secondjaw is selectively movable relative to the other of the first jaw andthe second jaw upon application of a closure motion to the surgical endeffector. The surgical instrument further comprises an elongate shaftassembly that includes a closure member assembly that is supported foraxial travel relative to the surgical end effector. The closure memberassembly comprises a proximal closure member that is configured to beaxially advanced a complete closure stroke distance upon application ofa closure actuation motion thereto. The proximal closure member isconfigured to apply a maximum closure force upon reaching an end of themaximum closure stroke distance. A distal closure member is supportedfor axial travel an axial closure distance that is less than thecomplete closure stroke distance to apply the closure motion to thesurgical end effector. A closure stroke reduction assembly interfaceswith the proximal closure member and the distal closure member suchthat, as the proximal closure member moves through the complete closurestroke distance, the proximal closure member applies another closureforce to the distal closure member that is less than the maximum closureforce.

Example 179

The surgical instrument of Example 178, wherein the closure strokereduction assembly comprises a proximal mounting member that is coupledto the proximal closure member for axial travel therewith through thecomplete closure stroke distance. A distal mounting member is coupled tothe distal closure member for axial travel therewith through the axialclosure distance. A biasing member is located between a portion of theproximal mounting member and another portion of the distal mountingmember.

The entire disclosures of:

-   -   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC        DEVICE, which issued on Apr. 4, 1995;    -   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT        HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which        issued on Feb. 21, 2006;    -   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING        AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which        issued on Sep. 9, 2008;    -   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL        INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS,        which issued on Dec. 16, 2008;    -   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN        ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;    -   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,        which issued on Jul. 13, 2010;    -   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE        IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;    -   U.S. patent application Ser. No. 11/343,803, entitled SURGICAL        INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No.        7,845,537;    -   U.S. patent application Ser. No. 12/031,573, entitled SURGICAL        CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed        Feb. 14, 2008;    -   U.S. patent application Ser. No. 12/031,873, entitled END        EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed        Feb. 15, 2008, now U.S. Pat. No. 7,980,443;    -   U.S. patent application Ser. No. 12/235,782, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No.        8,210,411;    -   U.S. patent application Ser. No. 12/249,117, entitled POWERED        SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY        RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;    -   U.S. patent application Ser. No. 12/647,100, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR        DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009, now U.S. Pat.        No. 8,220,688;    -   U.S. patent application Ser. No. 12/893,461, entitled STAPLE        CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;    -   U.S. patent application Ser. No. 13/036,647, entitled SURGICAL        STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.        8,561,870;    -   U.S. patent application Ser. No. 13/118,241, entitled SURGICAL        STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT        ARRANGEMENTS, now U.S. Pat. No. 9,072,535;    -   U.S. patent application Ser. No. 13/524,049, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,        filed on Jun. 15, 2012, now U.S. Pat. No. 9,101,358;    -   U.S. patent application Ser. No. 13/800,025, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Patent Application Publication No. 2014/0263551;    -   U.S. patent application Ser. No. 13/800,067, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Patent Application Publication No. 2014/0263552;    -   U.S. Patent Application Publication No. 2007/0175955, entitled        SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER        LOCKING MECHANISM, filed Jan. 31, 2006; and    -   U.S. Patent Application Publication No. 2010/0264194, entitled        SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,        filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby        incorporated by reference herein.

Although the various embodiments of the devices have been describedherein in connection with certain disclosed embodiments, manymodifications and variations to those embodiments may be implemented.Also, where materials are disclosed for certain components, othermaterials may be used. Furthermore, according to various embodiments, asingle component may be replaced by multiple components, and multiplecomponents may be replaced by a single component, to perform a givenfunction or functions. The foregoing description and following claimsare intended to cover all such modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

By way of example only, aspects described herein may be processed beforesurgery. First, a new or used instrument may be obtained and whennecessary cleaned. The instrument may then be sterilized. In onesterilization technique, the instrument is placed in a closed and sealedcontainer, such as a plastic or TYVEK bag. The container and instrumentmay then be placed in a field of radiation that can penetrate thecontainer, such as gamma radiation, x-rays, or high-energy electrons.The radiation may kill bacteria on the instrument and in the container.The sterilized instrument may then be stored in the sterile container.The sealed container may keep the instrument sterile until it is openedin a medical facility. A device also may be sterilized using any othertechnique known in the art, including but not limited to beta or gammaradiation, ethylene oxide, plasma peroxide, or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A surgical instrument, comprising: an elongateshaft extending distally along a central shaft axis; an end effectorconfigured to articulate relative to the elongate shaft from anunarticulated configuration to an articulated configuration about anarticulation axis transverse to and laterally offset from the centralshaft axis, the end effector comprising: an elongate channel configuredto receive a staple cartridge; and an anvil comprising a staple formingsurface; a proximal articulation system comprising a rotary input; adistal articulation system coupled to the proximal articulation system,wherein the distal articulation system is asymmetrical relative to thecentral shaft axis, the distal articulation system comprising anarticulation driver laterally offset from the central shaft axis andcomprising a distal end pivotably coupled to the end effector at a pinaligned with the articulation axis, and wherein the articulation driveris movable longitudinally in response to a rotation of the rotary inputto effect articulation of the end effector relative to the elongateshaft; and a firing assembly configured to selectively move relative tothe articulation driver during a firing stroke, the firing assemblycomprising: a proximal portion positioned in the elongate shaft andmovable along the central shaft axis during the firing stroke; a distalportion comprising a firing beam configured to move through the endeffector and progressively fire staples from the staple cartridge duringthe firing stroke; and a flexible portion intermediate the proximalportion and the distal portion, wherein the flexible portion isconfigured to flex around the articulation axis when the end effector isin the articulated configuration relative to the elongate shaft.
 2. Thesurgical instrument of claim 1, wherein an articulation force appliedexclusively by the articulation driver is configured to articulate theend effector between the unarticulated configuration and the articulatedconfiguration.
 3. The surgical instrument of claim 2, wherein thearticulation force is applied to the end effector on only one side ofthe firing assembly.
 4. The surgical instrument of claim 1, wherein thedistal articulation system further comprises a link laterally offsetfrom the articulation driver and the central shaft axis, wherein thelink is pivotably coupled to the end effector at a link pin.
 5. Thesurgical instrument of claim 4, wherein the flexible portion of thefiring assembly is positioned between the articulation driver and thelink.
 6. The surgical instrument of claim 1, further comprising a handlecomprising a handle attachment portion, wherein the elongate shaftcomprises a shaft attachment portion interchangeably mounted to thehandle attachment portion.
 7. The surgical instrument of claim 1,further comprising a handle comprising a motor operably coupled to thefiring assembly.
 8. The surgical instrument of claim 7, wherein theelongate shaft comprises a modular and interchangeable shaft assemblyselectively decoupleable from the handle, and wherein the motor isselectively decoupleable from the firing assembly.
 9. The surgicalinstrument of claim 1, further comprising a clutch assembly configuredto selectively couple the firing assembly to the articulation driver.10. The surgical instrument of claim 1, wherein the distal articulationsystem further comprises a link configured to pivot within the elongateshaft in response to the rotation of the rotary input to effectarticulation of the end effector relative to the elongate shaft.
 11. Thesurgical instrument of claim 1, wherein the articulation driver extendsalong a first lateral side of the central shaft axis, and wherein thedistal articulation system further comprises a link positioned on asecond lateral side of the central shaft axis when the end effector isin the unarticulated configuration.
 12. The surgical instrument of claim1, wherein the pin defines a pin axis, and wherein the pin axis and thearticulation axis are collinear.
 13. The surgical instrument of claim 1,wherein the pin extends longitudinally along the articulation axis. 14.A surgical instrument, comprising: an elongate shaft extending distallyalong a central shaft axis; an end effector configured to articulaterelative to the elongate shaft from an unarticulated configuration to anarticulated configuration about an articulation axis transverse to andlaterally offset from the central shaft axis, the end effectorcomprising: an elongate channel configured to receive a staplecartridge; and an anvil comprising a staple forming surface; a proximalarticulation system comprising a rotary input; a distal articulationsystem coupled to the proximal articulation system, wherein the distalarticulation system comprises an articulation driver configured tosingly apply an articulation force to effect articulation of the endeffector relative to the elongate shaft, wherein the articulation driveris laterally offset from the central shaft axis, wherein thearticulation driver comprises a distal pivot pivotably coupled to theend effector at a pin aligned with the articulation axis, and whereinthe articulation driver is movable longitudinally in response to arotation of the rotary input to effect articulation of the end effectorrelative to the elongate shaft; and a firing assembly configured toselectively move relative to the articulation driver during a firingstroke, the firing assembly comprising: a proximal portion positioned inthe elongate shaft and movable along the central shaft axis during thefiring stroke; a distal end comprising a firing beam configured to movethrough the end effector and progressively fire staples from the staplecartridge during the firing stroke; and a flexible portion intermediatethe proximal portion and the distal end, wherein the flexible portion isconfigured to flex around the articulation axis when the end effector isin the articulated configuration relative to the elongate shaft.
 15. Asurgical instrument, comprising: an elongate shaft extending distallyalong a central shaft axis; an end effector configured to articulaterelative to the elongate shaft from an unarticulated configuration to anarticulated configuration about an articulation axis transverse to andlaterally offset from the central shaft axis, the end effectorcomprising: an elongate channel configured to receive a staplecartridge; and an anvil comprising a staple forming surface; a proximalarticulation system comprising a rotary input; a distal articulationsystem coupled to the proximal articulation system, wherein the distalarticulation system comprises a solitary articulation driver configuredto apply an articulation force to effect articulation of the endeffector relative to the elongate shaft, wherein the solitaryarticulation driver comprises a distal end pivotably coupled to the endeffector at a pin aligned with the articulation axis, wherein thesolitary articulation driver is laterally offset from the central shaftaxis such that the distal articulation system is asymmetrical relativeto the central shaft axis, and wherein the solitary articulation driveris movable longitudinally in response to a rotation of the rotary inputto effect articulation of the end effector relative to the elongateshaft; and a firing assembly configured to selectively move relative tothe solitary articulation driver during a firing stroke, the firingassembly comprising: a proximal portion positioned in the elongate shaftand movable along the central shaft axis during the firing stroke; adistal end comprising a firing beam configured to move through the endeffector and progressively fire staples from the staple cartridge duringthe firing stroke; and a flexible portion intermediate the proximalportion and the distal end, wherein the flexible portion is configuredto flex around the articulation axis when the end effector is in thearticulated configuration relative to the elongate shaft.